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Beat Küng
6ec8dec63a
This allows external modes to individually check if they are flagged as invalid/unresponsive. Previously this was done only based on whether or not ArmingCheckRequest was received, which does not work when multiple modes are running.
37 lines
1.2 KiB
C++
37 lines
1.2 KiB
C++
/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate ArmingCheckRequest v0 <--> v1
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#include <px4_msgs_old/msg/arming_check_request_v0.hpp>
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#include <px4_msgs/msg/arming_check_request.hpp>
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class ArmingCheckRequestV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::ArmingCheckRequestV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::ArmingCheckRequest;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "/fmu/out/arming_check_request";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.request_id = msg_older.request_id;
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msg_newer.valid_registrations_mask = 0xffffffff;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.request_id = msg_newer.request_id;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(ArmingCheckRequestV1Translation);
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