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author | Julian Oes <julian@oes.ch> | 2013-06-15 19:41:54 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-15 19:41:54 +0200 |
commit | 9f5565de3221718ba12800a54ca1a0c06b7491ef (patch) | |
tree | 7cda3831fabd567a97b140207edef793a24e9250 /src/modules/mavlink_onboard | |
parent | e556649f2ff6922a7a3b7751b68cdedd0d6254aa (diff) | |
download | px4-firmware-9f5565de3221718ba12800a54ca1a0c06b7491ef.tar.gz px4-firmware-9f5565de3221718ba12800a54ca1a0c06b7491ef.tar.bz2 px4-firmware-9f5565de3221718ba12800a54ca1a0c06b7491ef.zip |
Controllers should not access state machine anymore but access the vehicle_control_mode flags
Diffstat (limited to 'src/modules/mavlink_onboard')
-rw-r--r-- | src/modules/mavlink_onboard/mavlink.c | 12 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/orb_topics.h | 1 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/util.h | 3 |
3 files changed, 10 insertions, 6 deletions
diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 4b6d81113..dbea2be08 100644 --- a/src/modules/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c @@ -274,18 +274,18 @@ void mavlink_update_system(void) } void -get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_safety_s *safety, +get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety, uint8_t *mavlink_state, uint8_t *mavlink_mode) { /* reset MAVLink mode bitfield */ *mavlink_mode = 0; /* set mode flags independent of system state */ - if (v_status->flag_control_manual_enabled) { + if (control_mode->flag_control_manual_enabled) { *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; } - if (v_status->flag_hil_enabled) { + if (safety->hil_enabled) { *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; } @@ -296,7 +296,7 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; } - if (v_status->flag_control_velocity_enabled) { + if (control_mode->flag_control_velocity_enabled) { *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; } else { *mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED; @@ -368,7 +368,9 @@ int mavlink_thread_main(int argc, char *argv[]) char *device_name = "/dev/ttyS1"; baudrate = 57600; + /* XXX this is never written? */ struct vehicle_status_s v_status; + struct vehicle_control_mode_s control_mode; struct actuator_safety_s safety; /* work around some stupidity in task_create's argv handling */ @@ -437,7 +439,7 @@ 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, &safety, &mavlink_state, &mavlink_mode); + get_mavlink_mode_and_state(&control_mode, &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); diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h index fee5580b3..f01f09e12 100644 --- a/src/modules/mavlink_onboard/orb_topics.h +++ b/src/modules/mavlink_onboard/orb_topics.h @@ -52,6 +52,7 @@ #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_global_position_setpoint.h> #include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/optical_flow.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls.h> diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h index 17c3ba820..c6a2e52bf 100644 --- a/src/modules/mavlink_onboard/util.h +++ b/src/modules/mavlink_onboard/util.h @@ -50,5 +50,6 @@ extern volatile bool thread_should_exit; /** * Translate the custom state into standard mavlink modes and state. */ -extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_safety_s *safety, +extern void +get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety, uint8_t *mavlink_state, uint8_t *mavlink_mode); |