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author | Julian Oes <julian@oes.ch> | 2013-06-14 13:53:26 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-14 13:53:26 +0200 |
commit | 90f5e30f2a177bed2ac08e76699ec3029292d640 (patch) | |
tree | 25752b2843f573e3affe42b7e20b8fc06c457290 /src/modules/mavlink/orb_listener.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/mavlink/orb_listener.c')
-rw-r--r-- | src/modules/mavlink/orb_listener.c | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index d84406e7a..a4a2ca3e5 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -71,7 +71,7 @@ struct vehicle_local_position_s local_pos; struct vehicle_status_s v_status; struct rc_channels_s rc; struct rc_input_values rc_raw; -struct actuator_armed_s armed; +struct actuator_safety_s safety; struct mavlink_subscriptions mavlink_subs; @@ -109,7 +109,7 @@ static void l_global_position_setpoint(const struct listener *l); static void l_local_position_setpoint(const struct listener *l); static void l_attitude_setpoint(const struct listener *l); static void l_actuator_outputs(const struct listener *l); -static void l_actuator_armed(const struct listener *l); +static void l_actuator_safety(const struct listener *l); static void l_manual_control_setpoint(const struct listener *l); static void l_vehicle_attitude_controls(const struct listener *l); static void l_debug_key_value(const struct listener *l); @@ -133,7 +133,7 @@ static const struct listener listeners[] = { {l_actuator_outputs, &mavlink_subs.act_1_sub, 1}, {l_actuator_outputs, &mavlink_subs.act_2_sub, 2}, {l_actuator_outputs, &mavlink_subs.act_3_sub, 3}, - {l_actuator_armed, &mavlink_subs.armed_sub, 0}, + {l_actuator_safety, &mavlink_subs.safety_sub, 0}, {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, @@ -269,7 +269,7 @@ l_vehicle_status(const struct listener *l) { /* immediately communicate state changes back to user */ orb_copy(ORB_ID(vehicle_status), status_sub, &v_status); - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); + orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety); /* enable or disable HIL */ set_hil_on_off(v_status.flag_hil_enabled); @@ -466,7 +466,7 @@ l_actuator_outputs(const struct listener *l) act_outputs.output[7]); /* only send in HIL mode */ - if (mavlink_hil_enabled && armed.armed) { + if (mavlink_hil_enabled && safety.armed) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; @@ -538,9 +538,9 @@ l_actuator_outputs(const struct listener *l) } void -l_actuator_armed(const struct listener *l) +l_actuator_safety(const struct listener *l) { - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); + orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety); } void @@ -745,8 +745,8 @@ uorb_receive_start(void) orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */ /* --- ACTUATOR ARMED VALUE --- */ - mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */ + mavlink_subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + orb_set_interval(mavlink_subs.safety_sub, 100); /* 10Hz updates */ /* --- MAPPED MANUAL CONTROL INPUTS --- */ mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); |