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| author | Julian Oes <julian@oes.ch> | 2013-08-15 14:04:46 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-08-15 14:04:46 +0200 |
| commit | 56575eb068879beb68b3730ca6d3bb3755d6960a (patch) | |
| tree | 1b7b4c028c2b936db81310e82a8ef84adc125e3d /src/drivers/ardrone_interface/ardrone_interface.c | |
| parent | 50cf1c01b701fced6437dfe574fd09cd312b9f15 (diff) | |
| parent | 561ec495b7df5b3ff4536d16d1389d1f02affd06 (diff) | |
| download | px4-firmware-56575eb068879beb68b3730ca6d3bb3755d6960a.tar.gz px4-firmware-56575eb068879beb68b3730ca6d3bb3755d6960a.tar.bz2 px4-firmware-56575eb068879beb68b3730ca6d3bb3755d6960a.zip | |
Merge remote-tracking branch 'px4/new_state_machine_drton' into fmuv2_bringup_new_state_machine_drton
Conflicts:
src/drivers/blinkm/blinkm.cpp
src/drivers/px4io/px4io.cpp
src/modules/commander/state_machine_helper.c
src/modules/px4iofirmware/protocol.h
src/modules/px4iofirmware/registers.c
src/modules/systemlib/systemlib.h
src/systemcmds/reboot/reboot.c
Diffstat (limited to 'src/drivers/ardrone_interface/ardrone_interface.c')
| -rw-r--r-- | src/drivers/ardrone_interface/ardrone_interface.c | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c index 735bdb41a..b88f61ce8 100644 --- a/src/drivers/ardrone_interface/ardrone_interface.c +++ b/src/drivers/ardrone_interface/ardrone_interface.c @@ -53,8 +53,10 @@ #include <sys/prctl.h> #include <drivers/drv_hrt.h> #include <uORB/uORB.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/safety.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/vehicle_control_mode.h> #include <systemlib/systemlib.h> @@ -243,16 +245,14 @@ int ardrone_interface_thread_main(int argc, char *argv[]) int led_counter = 0; /* declare and safely initialize all structs */ - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); struct actuator_controls_s actuator_controls; memset(&actuator_controls, 0, sizeof(actuator_controls)); struct actuator_armed_s armed; + //XXX is this necessairy? armed.armed = false; /* subscribe to attitude, motor setpoints and system state */ int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); printf("[ardrone_interface] Motors initialized - ready.\n"); @@ -322,8 +322,6 @@ int ardrone_interface_thread_main(int argc, char *argv[]) } else { /* MAIN OPERATION MODE */ - /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), state_sub, &state); /* get a local copy of the actuator controls */ orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls); orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); |