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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/mavlink_onboard/mavlink.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_onboard/mavlink.c')
| -rw-r--r-- | src/modules/mavlink_onboard/mavlink.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 408a850d8..4b6d81113 100644 --- a/src/modules/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c @@ -274,7 +274,7 @@ void mavlink_update_system(void) } void -get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, +get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_safety_s *safety, uint8_t *mavlink_state, uint8_t *mavlink_mode) { /* reset MAVLink mode bitfield */ @@ -290,7 +290,7 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct } /* set arming state */ - if (v_status->flag_fmu_armed) { + if (safety->armed) { *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } else { *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; @@ -369,7 +369,7 @@ int mavlink_thread_main(int argc, char *argv[]) baudrate = 57600; struct vehicle_status_s v_status; - struct actuator_armed_s armed; + struct actuator_safety_s safety; /* work around some stupidity in task_create's argv handling */ argc -= 2; @@ -437,7 +437,7 @@ int mavlink_thread_main(int argc, char *argv[]) /* translate the current system state to mavlink state and mode */ uint8_t mavlink_state = 0; uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); + get_mavlink_mode_and_state(&v_status, &safety, &mavlink_state, &mavlink_mode); /* send heartbeat */ mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state); |