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| author | Julian Oes <julian@oes.ch> | 2013-06-25 13:15:38 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-25 13:15:38 +0200 |
| commit | a6ba7e448586c556009132887503e6830c20029e (patch) | |
| tree | 4186eb8d3c233c01e0e3ce6318d65c43366d6b97 /src/drivers/px4io/px4io.cpp | |
| parent | 2096da2d4da2d4482dcdb328d35255101fc722bd (diff) | |
| download | px4-firmware-a6ba7e448586c556009132887503e6830c20029e.tar.gz px4-firmware-a6ba7e448586c556009132887503e6830c20029e.tar.bz2 px4-firmware-a6ba7e448586c556009132887503e6830c20029e.zip | |
Dropped superseded safety topic, added warning tones before arming
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 15 |
1 files changed, 9 insertions, 6 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 6d3c32ed9..df2f18270 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -81,7 +81,6 @@ #include <uORB/topics/rc_channels.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/safety.h> #include <debug.h> #include <mavlink/mavlink_log.h> @@ -990,20 +989,24 @@ PX4IO::io_handle_status(uint16_t status) /** * Get and handle the safety status */ - struct safety_s safety; + struct actuator_safety_s safety; safety.timestamp = hrt_absolute_time(); + orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &safety); + if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { - safety.status = SAFETY_STATUS_UNLOCKED; + safety.safety_off = true; + safety.safety_switch_available = true; } else { - safety.status = SAFETY_STATUS_SAFE; + safety.safety_off = false; + safety.safety_switch_available = true; } /* lazily publish the safety status */ if (_to_safety > 0) { - orb_publish(ORB_ID(safety), _to_safety, &safety); + orb_publish(ORB_ID(actuator_safety), _to_safety, &safety); } else { - _to_safety = orb_advertise(ORB_ID(safety), &safety); + _to_safety = orb_advertise(ORB_ID(actuator_safety), &safety); } return ret; |