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| author | Julian Oes <julian@oes.ch> | 2013-07-15 22:15:15 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-07-15 22:15:15 +0200 |
| commit | 1b38cf715d85b15f2200d49b64fbe22a05b71937 (patch) | |
| tree | 1df1db43a7ac8dad47d96059eef8efff65b6248d /src/drivers/mkblctrl/mkblctrl.cpp | |
| parent | bf2ff98856b7e6b107a7ec5bbde3b00e38713804 (diff) | |
| download | px4-firmware-1b38cf715d85b15f2200d49b64fbe22a05b71937.tar.gz px4-firmware-1b38cf715d85b15f2200d49b64fbe22a05b71937.tar.bz2 px4-firmware-1b38cf715d85b15f2200d49b64fbe22a05b71937.zip | |
Renamed actuator_safety back to actuator_armed, compiling but untested
Diffstat (limited to 'src/drivers/mkblctrl/mkblctrl.cpp')
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 3fc1054e6..06930db38 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -74,7 +74,7 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/esc_status.h> #include <systemlib/err.h> @@ -135,7 +135,7 @@ private: int _current_update_rate; int _task; int _t_actuators; - int _t_actuator_safety; + int _t_actuator_armed; unsigned int _motor; int _px4mode; int _frametype; @@ -248,7 +248,7 @@ MK::MK(int bus) : _update_rate(50), _task(-1), _t_actuators(-1), - _t_actuator_safety(-1), + _t_actuator_armed(-1), _t_outputs(0), _t_actuators_effective(0), _t_esc_status(0), @@ -513,8 +513,8 @@ MK::task_main() /* force a reset of the update rate */ _current_update_rate = 0; - _t_actuator_safety = orb_subscribe(ORB_ID(actuator_safety)); - orb_set_interval(_t_actuator_safety, 200); /* 5Hz update rate */ + _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ /* advertise the mixed control outputs */ actuator_outputs_s outputs; @@ -540,7 +540,7 @@ MK::task_main() pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_actuator_safety; + fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; log("starting"); @@ -651,13 +651,13 @@ MK::task_main() /* how about an arming update? */ if (fds[1].revents & POLLIN) { - actuator_safety_s as; + actuator_armed_s aa; /* get new value */ - orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &as); + orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa); /* update PWM servo armed status if armed and not locked down */ - mk_servo_arm(as.armed && !as.lockdown); + mk_servo_arm(aa.armed && !aa.lockdown); } @@ -700,7 +700,7 @@ MK::task_main() //::close(_t_esc_status); ::close(_t_actuators); ::close(_t_actuators_effective); - ::close(_t_actuator_safety); + ::close(_t_actuator_armed); /* make sure servos are off */ |