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| author | Julian Oes <julian@oes.ch> | 2013-07-16 18:55:32 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-07-16 18:56:31 +0200 |
| commit | bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac (patch) | |
| tree | c91207643c0c9e1057dd1662556dbfe7f5b5322c /src/drivers/px4io/px4io.cpp | |
| parent | 6e44a486c1511e980d54fead34676ea1bfed3b3d (diff) | |
| download | px4-firmware-bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac.tar.gz px4-firmware-bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac.tar.bz2 px4-firmware-bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac.zip | |
Changed location of lots of flags and conditions, needs testing and more work
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index ea732eccd..827b0bb00 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -77,7 +77,7 @@ #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/safety.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/rc_channels.h> #include <uORB/topics/battery_status.h> @@ -180,7 +180,7 @@ private: /* subscribed topics */ int _t_actuators; ///< actuator controls topic int _t_actuator_armed; ///< system armed control topic - int _t_vstatus; ///< system / vehicle status + int _t_vehicle_control_mode; ///< vehicle control mode topic int _t_param; ///< parameter update topic /* advertised topics */ @@ -362,7 +362,7 @@ PX4IO::PX4IO() : _alarms(0), _t_actuators(-1), _t_actuator_armed(-1), - _t_vstatus(-1), + _t_vehicle_control_mode(-1), _t_param(-1), _to_input_rc(0), _to_actuators_effective(0), @@ -647,8 +647,8 @@ PX4IO::task_main() _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ - _t_vstatus = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */ + _t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); + orb_set_interval(_t_vehicle_control_mode, 200); /* 5Hz update rate max. */ _t_param = orb_subscribe(ORB_ID(parameter_update)); orb_set_interval(_t_param, 500); /* 2Hz update rate max. */ @@ -659,7 +659,7 @@ PX4IO::task_main() fds[0].events = POLLIN; fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; - fds[2].fd = _t_vstatus; + fds[2].fd = _t_vehicle_control_mode; fds[2].events = POLLIN; fds[3].fd = _t_param; fds[3].events = POLLIN; @@ -834,10 +834,10 @@ int PX4IO::io_set_arming_state() { actuator_armed_s armed; ///< system armed state - vehicle_status_s vstatus; ///< overall system state + vehicle_control_mode_s control_mode; ///< vehicle_control_mode orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed); - orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus); + orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode); uint16_t set = 0; uint16_t clear = 0; @@ -853,7 +853,7 @@ PX4IO::io_set_arming_state() clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; } - if (vstatus.flag_external_manual_override_ok) { + if (control_mode.flag_external_manual_override_ok) { set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; } else { clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; |