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| author | Julian Oes <julian@oes.ch> | 2013-06-14 13:53:26 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-14 13:53:26 +0200 |
| commit | 90f5e30f2a177bed2ac08e76699ec3029292d640 (patch) | |
| tree | 25752b2843f573e3affe42b7e20b8fc06c457290 /src/modules/gpio_led/gpio_led.c | |
| parent | 236053a600f5708aee0e5849f4fefc2380e7d101 (diff) | |
| download | px4-firmware-90f5e30f2a177bed2ac08e76699ec3029292d640.tar.gz px4-firmware-90f5e30f2a177bed2ac08e76699ec3029292d640.tar.bz2 px4-firmware-90f5e30f2a177bed2ac08e76699ec3029292d640.zip | |
Introduced new actuator_safety topic
Diffstat (limited to 'src/modules/gpio_led/gpio_led.c')
| -rw-r--r-- | src/modules/gpio_led/gpio_led.c | 16 |
1 files changed, 11 insertions, 5 deletions
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c index 542821e95..618095d0b 100644 --- a/src/modules/gpio_led/gpio_led.c +++ b/src/modules/gpio_led/gpio_led.c @@ -51,6 +51,7 @@ #include <systemlib/err.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> +#include <uORB/topics/actuator_safety.h> #include <poll.h> #include <drivers/drv_gpio.h> @@ -60,6 +61,8 @@ struct gpio_led_s { int pin; struct vehicle_status_s status; int vehicle_status_sub; + struct actuator_safety_s safety; + int actuator_safety_sub; bool led_state; int counter; }; @@ -168,11 +171,15 @@ void gpio_led_cycle(FAR void *arg) if (status_updated) orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status); + orb_check(priv->vehicle_status_sub, &status_updated); + + if (status_updated) + orb_copy(ORB_ID(actuator_safety), priv->actuator_safety_sub, &priv->safety); + /* select pattern for current status */ int pattern = 0; - /* XXX fmu armed correct? */ - if (priv->status.flag_fmu_armed) { + if (priv->safety.armed) { if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { pattern = 0x3f; // ****** solid (armed) @@ -181,11 +188,10 @@ void gpio_led_cycle(FAR void *arg) } } else { - if (priv->status.arming_state == ARMING_STATE_STANDBY) { + if (priv->safety.ready_to_arm) { pattern = 0x00; // ______ off (disarmed, preflight check) - } else if (priv->status.arming_state == ARMING_STATE_STANDBY && - priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { + } else if (priv->safety.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { pattern = 0x38; // ***___ slow blink (disarmed, ready) } else { |