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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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bfd5a90a5d
Set uavcan publisher priorities Switch to ardupilot rtcm message and add heading accuracy
79 lines
2.7 KiB
C++
79 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file safety_state.cpp
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*
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* @author CUAVcaijie <caijie@cuav.net>
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*/
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#include "safety_state.hpp"
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UavcanSafetyState::UavcanSafetyState(uavcan::INode &node) :
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_safety_state_pub(node),
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_timer(node)
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{
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_safety_state_pub.setPriority(uavcan::TransferPriority::Default);
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}
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int UavcanSafetyState::init()
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{
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/*
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* Setup timer and call back function for periodic updates
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*/
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if (!_timer.isRunning()) {
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_timer.setCallback(TimerCbBinder(this, &UavcanSafetyState::periodic_update));
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_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
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}
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return 0;
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}
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void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &)
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{
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actuator_armed_s actuator_armed;
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if (_actuator_armed_sub.update(&actuator_armed)) {
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ardupilot::indication::SafetyState cmd;
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if (actuator_armed.armed || actuator_armed.prearmed) {
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cmd.status = cmd.STATUS_SAFETY_OFF;
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} else {
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cmd.status = cmd.STATUS_SAFETY_ON;
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}
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(void)_safety_state_pub.broadcast(cmd);
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}
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}
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