diff options
25 files changed, 316 insertions, 243 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c index 187820372..b88f61ce8 100644 --- a/src/drivers/ardrone_interface/ardrone_interface.c +++ b/src/drivers/ardrone_interface/ardrone_interface.c @@ -53,9 +53,10 @@ #include <sys/prctl.h> #include <drivers/drv_hrt.h> #include <uORB/uORB.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/safety.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/vehicle_control_mode.h> #include <systemlib/systemlib.h> @@ -244,17 +245,15 @@ int ardrone_interface_thread_main(int argc, char *argv[]) int led_counter = 0; /* declare and safely initialize all structs */ - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); struct actuator_controls_s actuator_controls; memset(&actuator_controls, 0, sizeof(actuator_controls)); - struct actuator_safety_s safety; - safety.armed = false; + struct actuator_armed_s armed; + //XXX is this necessairy? + armed.armed = false; /* subscribe to attitude, motor setpoints and system state */ int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); - int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); printf("[ardrone_interface] Motors initialized - ready.\n"); fflush(stdout); @@ -325,12 +324,12 @@ int ardrone_interface_thread_main(int argc, char *argv[]) /* get a local copy of the actuator controls */ orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls); - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); /* for now only spin if armed and immediately shut down * if in failsafe */ - if (safety.armed && !safety.lockdown) { + if (armed.armed && !armed.lockdown) { ardrone_mixing_and_output(ardrone_write, &actuator_controls); } else { diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index a11f88477..e83a87aa9 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -116,7 +116,8 @@ #include <poll.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_gps_position.h> static const float MAX_CELL_VOLTAGE = 4.3f; @@ -376,8 +377,9 @@ BlinkM::led() { static int vehicle_status_sub_fd; + static int vehicle_control_mode_sub_fd; static int vehicle_gps_position_sub_fd; - static int actuator_safety_sub_fd; + static int actuator_armed_sub_fd; static int num_of_cells = 0; static int detected_cells_runcount = 0; @@ -388,7 +390,8 @@ BlinkM::led() static int led_interval = 1000; static int no_data_vehicle_status = 0; - static int no_data_actuator_safety = 0; + static int no_data_vehicle_control_mode = 0; + static int no_data_actuator_armed = 0; static int no_data_vehicle_gps_position = 0; static bool topic_initialized = false; @@ -401,8 +404,11 @@ BlinkM::led() vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status)); orb_set_interval(vehicle_status_sub_fd, 1000); - actuator_safety_sub_fd = orb_subscribe(ORB_ID(actuator_safety)); - orb_set_interval(actuator_safety_sub_fd, 1000); + vehicle_control_mode_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode)); + orb_set_interval(vehicle_control_mode_sub_fd, 1000); + + actuator_armed_sub_fd = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(actuator_armed_sub_fd, 1000); vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position)); orb_set_interval(vehicle_gps_position_sub_fd, 1000); @@ -458,14 +464,16 @@ BlinkM::led() if (led_thread_runcount == 15) { /* obtained data for the first file descriptor */ struct vehicle_status_s vehicle_status_raw; - struct actuator_safety_s actuator_safety; + struct vehicle_control_mode_s vehicle_control_mode; + struct actuator_armed_s actuator_armed; struct vehicle_gps_position_s vehicle_gps_position_raw; memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw)); memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw)); bool new_data_vehicle_status; - bool new_data_actuator_safety; + bool new_data_vehicle_control_mode; + bool new_data_actuator_armed; bool new_data_vehicle_gps_position; orb_check(vehicle_status_sub_fd, &new_data_vehicle_status); @@ -479,15 +487,26 @@ BlinkM::led() no_data_vehicle_status = 3; } - orb_check(actuator_safety_sub_fd, &new_data_actuator_safety); + orb_check(vehicle_control_mode_sub_fd, &new_data_vehicle_control_mode); - if (new_data_actuator_safety) { - orb_copy(ORB_ID(actuator_safety), actuator_safety_sub_fd, &actuator_safety); - no_data_actuator_safety = 0; + if (new_data_vehicle_control_mode) { + orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub_fd, &vehicle_control_mode); + no_data_vehicle_control_mode = 0; } else { - no_data_actuator_safety++; - if(no_data_vehicle_status >= 3) - no_data_vehicle_status = 3; + no_data_vehicle_control_mode++; + if(no_data_vehicle_control_mode >= 3) + no_data_vehicle_control_mode = 3; + } + + orb_check(actuator_armed_sub_fd, &new_data_actuator_armed); + + if (new_data_actuator_armed) { + orb_copy(ORB_ID(actuator_armed), actuator_armed_sub_fd, &actuator_armed); + no_data_actuator_armed = 0; + } else { + no_data_actuator_armed++; + if(no_data_actuator_armed >= 3) + no_data_actuator_armed = 3; } orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position); @@ -549,7 +568,7 @@ BlinkM::led() } else { /* no battery warnings here */ - if(actuator_safety.armed == false) { + if(actuator_armed.armed == false) { /* system not armed */ led_color_1 = LED_RED; led_color_2 = LED_RED; @@ -573,25 +592,21 @@ BlinkM::led() led_color_8 = LED_OFF; led_blink = LED_BLINK; - /* handle 4th led - flightmode indicator */ -#warning fix this -// switch((int)vehicle_status_raw.flight_mode) { -// case VEHICLE_FLIGHT_MODE_MANUAL: -// led_color_4 = LED_AMBER; -// break; -// -// case VEHICLE_FLIGHT_MODE_STAB: -// led_color_4 = LED_YELLOW; -// break; -// -// case VEHICLE_FLIGHT_MODE_HOLD: -// led_color_4 = LED_BLUE; -// break; -// -// case VEHICLE_FLIGHT_MODE_AUTO: -// led_color_4 = LED_GREEN; -// break; -// } + if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { + + //XXX please check + if (vehicle_control_mode.flag_control_position_enabled) + led_color_4 = LED_GREEN; + else if (vehicle_control_mode.flag_control_velocity_enabled) + led_color_4 = LED_BLUE; + else if (vehicle_control_mode.flag_control_attitude_enabled) + led_color_4 = LED_YELLOW; + else if (vehicle_control_mode.flag_control_manual_enabled) + led_color_4 = LED_AMBER; + else + led_color_4 = LED_OFF; + + } if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) { /* handling used sat�s */ diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index 15fbf8c88..3e30e3292 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -75,7 +75,7 @@ #include <systemlib/mixer/mixer.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_outputs.h> #include <systemlib/err.h> @@ -109,7 +109,7 @@ private: int _current_update_rate; int _task; int _t_actuators; - int _t_safety; + int _t_armed; orb_advert_t _t_outputs; unsigned _num_outputs; bool _primary_pwm_device; @@ -162,7 +162,7 @@ HIL::HIL() : _current_update_rate(0), _task(-1), _t_actuators(-1), - _t_safety(-1), + _t_armed(-1), _t_outputs(0), _num_outputs(0), _primary_pwm_device(false), @@ -322,8 +322,8 @@ HIL::task_main() /* force a reset of the update rate */ _current_update_rate = 0; - _t_safety = orb_subscribe(ORB_ID(actuator_safety)); - orb_set_interval(_t_safety, 200); /* 5Hz update rate */ + _t_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_armed, 200); /* 5Hz update rate */ /* advertise the mixed control outputs */ actuator_outputs_s outputs; @@ -335,7 +335,7 @@ HIL::task_main() pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_safety; + fds[1].fd = _t_armed; fds[1].events = POLLIN; unsigned num_outputs; @@ -427,15 +427,15 @@ HIL::task_main() /* how about an arming update? */ if (fds[1].revents & POLLIN) { - actuator_safety_s aa; + actuator_armed_s aa; /* get new value */ - orb_copy(ORB_ID(actuator_safety), _t_safety, &aa); + orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); } } ::close(_t_actuators); - ::close(_t_safety); + ::close(_t_armed); /* make sure servos are off */ // up_pwm_servo_deinit(); diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 3fc1054e6..06930db38 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -74,7 +74,7 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/esc_status.h> #include <systemlib/err.h> @@ -135,7 +135,7 @@ private: int _current_update_rate; int _task; int _t_actuators; - int _t_actuator_safety; + int _t_actuator_armed; unsigned int _motor; int _px4mode; int _frametype; @@ -248,7 +248,7 @@ MK::MK(int bus) : _update_rate(50), _task(-1), _t_actuators(-1), - _t_actuator_safety(-1), + _t_actuator_armed(-1), _t_outputs(0), _t_actuators_effective(0), _t_esc_status(0), @@ -513,8 +513,8 @@ MK::task_main() /* force a reset of the update rate */ _current_update_rate = 0; - _t_actuator_safety = orb_subscribe(ORB_ID(actuator_safety)); - orb_set_interval(_t_actuator_safety, 200); /* 5Hz update rate */ + _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ /* advertise the mixed control outputs */ actuator_outputs_s outputs; @@ -540,7 +540,7 @@ MK::task_main() pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_actuator_safety; + fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; log("starting"); @@ -651,13 +651,13 @@ MK::task_main() /* how about an arming update? */ if (fds[1].revents & POLLIN) { - actuator_safety_s as; + actuator_armed_s aa; /* get new value */ - orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &as); + orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa); /* update PWM servo armed status if armed and not locked down */ - mk_servo_arm(as.armed && !as.lockdown); + mk_servo_arm(aa.armed && !aa.lockdown); } @@ -700,7 +700,7 @@ MK::task_main() //::close(_t_esc_status); ::close(_t_actuators); ::close(_t_actuators_effective); - ::close(_t_actuator_safety); + ::close(_t_actuator_armed); /* make sure servos are off */ diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index d0499d2fd..41c8c8bb7 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -69,7 +69,7 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <systemlib/err.h> #include <systemlib/ppm_decode.h> @@ -105,7 +105,7 @@ private: unsigned _current_update_rate; int _task; int _t_actuators; - int _t_actuator_safety; + int _t_actuator_armed; orb_advert_t _t_outputs; orb_advert_t _t_actuators_effective; unsigned _num_outputs; @@ -175,7 +175,7 @@ PX4FMU::PX4FMU() : _current_update_rate(0), _task(-1), _t_actuators(-1), - _t_actuator_safety(-1), + _t_actuator_armed(-1), _t_outputs(0), _t_actuators_effective(0), _num_outputs(0), @@ -377,8 +377,8 @@ PX4FMU::task_main() /* force a reset of the update rate */ _current_update_rate = 0; - _t_actuator_safety = orb_subscribe(ORB_ID(actuator_safety)); - orb_set_interval(_t_actuator_safety, 200); /* 5Hz update rate */ + _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ /* advertise the mixed control outputs */ actuator_outputs_s outputs; @@ -397,7 +397,7 @@ PX4FMU::task_main() pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_actuator_safety; + fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4; @@ -500,13 +500,13 @@ PX4FMU::task_main() /* how about an arming update? */ if (fds[1].revents & POLLIN) { - actuator_safety_s as; + actuator_armed_s aa; /* get new value */ - orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &as); + orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa); /* update PWM servo armed status if armed and not locked down */ - bool set_armed = as.armed && !as.lockdown; + bool set_armed = aa.armed && !aa.lockdown; if (set_armed != _armed) { _armed = set_armed; up_pwm_servo_arm(set_armed); @@ -536,7 +536,7 @@ PX4FMU::task_main() ::close(_t_actuators); ::close(_t_actuators_effective); - ::close(_t_actuator_safety); + ::close(_t_actuator_armed); /* make sure servos are off */ up_pwm_servo_deinit(); @@ -1022,12 +1022,12 @@ fake(int argc, char *argv[]) if (handle < 0) errx(1, "advertise failed"); - actuator_safety_s as; + actuator_armed_s aa; - as.armed = true; - as.lockdown = false; + aa.armed = true; + aa.lockdown = false; - handle = orb_advertise(ORB_ID(actuator_safety), &as); + handle = orb_advertise(ORB_ID(actuator_armed), &aa); if (handle < 0) errx(1, "advertise failed 2"); diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 94f231821..ea732eccd 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -75,7 +75,8 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/safety.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/rc_channels.h> @@ -178,7 +179,7 @@ private: /* subscribed topics */ int _t_actuators; ///< actuator controls topic - int _t_actuator_safety; ///< system armed control topic + int _t_actuator_armed; ///< system armed control topic int _t_vstatus; ///< system / vehicle status int _t_param; ///< parameter update topic @@ -360,7 +361,7 @@ PX4IO::PX4IO() : _status(0), _alarms(0), _t_actuators(-1), - _t_actuator_safety(-1), + _t_actuator_armed(-1), _t_vstatus(-1), _t_param(-1), _to_input_rc(0), @@ -505,9 +506,9 @@ PX4IO::init() * remains untouched (so manual override is still available). */ - int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int safety_sub = orb_subscribe(ORB_ID(actuator_armed)); /* fill with initial values, clear updated flag */ - struct actuator_safety_s safety; + struct actuator_armed_s safety; uint64_t try_start_time = hrt_absolute_time(); bool updated = false; @@ -518,7 +519,7 @@ PX4IO::init() if (updated) { /* got data, copy and exit loop */ - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), safety_sub, &safety); break; } @@ -559,7 +560,7 @@ PX4IO::init() orb_check(safety_sub, &updated); if (updated) { - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), safety_sub, &safety); } /* wait 50 ms */ @@ -643,8 +644,8 @@ PX4IO::task_main() ORB_ID(actuator_controls_1)); orb_set_interval(_t_actuators, 20); /* default to 50Hz */ - _t_actuator_safety = orb_subscribe(ORB_ID(actuator_safety)); - orb_set_interval(_t_actuator_safety, 200); /* 5Hz update rate */ + _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. */ @@ -656,7 +657,7 @@ PX4IO::task_main() pollfd fds[4]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_actuator_safety; + fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; fds[2].fd = _t_vstatus; fds[2].events = POLLIN; @@ -832,21 +833,21 @@ PX4IO::set_idle_values(const uint16_t *vals, unsigned len) int PX4IO::io_set_arming_state() { - actuator_safety_s safety; ///< system armed state + actuator_armed_s armed; ///< system armed state vehicle_status_s vstatus; ///< overall system state - orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &safety); + orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed); orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus); uint16_t set = 0; uint16_t clear = 0; - if (safety.armed && !safety.lockdown) { + if (armed.armed && !armed.lockdown) { set |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } else { clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } - if (safety.ready_to_arm) { + if (armed.ready_to_arm) { set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; } else { clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; @@ -1004,10 +1005,10 @@ PX4IO::io_handle_status(uint16_t status) /** * Get and handle the safety status */ - struct actuator_safety_s safety; + struct safety_s safety; safety.timestamp = hrt_absolute_time(); - orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &safety); + orb_copy(ORB_ID(safety), _to_safety, &safety); if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { safety.safety_off = true; @@ -1019,9 +1020,9 @@ PX4IO::io_handle_status(uint16_t status) /* lazily publish the safety status */ if (_to_safety > 0) { - orb_publish(ORB_ID(actuator_safety), _to_safety, &safety); + orb_publish(ORB_ID(safety), _to_safety, &safety); } else { - _to_safety = orb_advertise(ORB_ID(actuator_safety), &safety); + _to_safety = orb_advertise(ORB_ID(safety), &safety); } return ret; diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c index 0b9404582..621d3253f 100644 --- a/src/examples/flow_position_control/flow_position_control_main.c +++ b/src/examples/flow_position_control/flow_position_control_main.c @@ -55,7 +55,7 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/manual_control_setpoint.h> @@ -159,7 +159,7 @@ flow_position_control_thread_main(int argc, char *argv[]) const float time_scale = powf(10.0f,-6.0f); /* structures */ - struct actuator_safety_s safety; + struct actuator_armed_s armed; struct vehicle_control_mode_s control_mode; struct vehicle_attitude_s att; struct manual_control_setpoint_s manual; @@ -171,7 +171,7 @@ flow_position_control_thread_main(int argc, char *argv[]) /* subscribe to attitude, motor setpoints and system state */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow)); @@ -261,7 +261,7 @@ flow_position_control_thread_main(int argc, char *argv[]) perf_begin(mc_loop_perf); /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); /* get a local copy of manual setpoint */ orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual); /* get a local copy of attitude */ @@ -578,7 +578,7 @@ flow_position_control_thread_main(int argc, char *argv[]) close(parameter_update_sub); close(vehicle_attitude_sub); close(vehicle_local_position_sub); - close(safety_sub); + close(armed_sub); close(control_mode_sub); close(manual_control_setpoint_sub); close(speed_sp_pub); diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index 557fdf37c..5e80066a7 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -56,7 +56,7 @@ #include <math.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> @@ -159,8 +159,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) static float sonar_lp = 0.0f; /* subscribe to vehicle status, attitude, sensors and flow*/ - struct actuator_safety_s safety; - memset(&safety, 0, sizeof(safety)); + struct actuator_armed_s armed; + memset(&armed, 0, sizeof(armed)); struct vehicle_control_mode_s control_mode; memset(&control_mode, 0, sizeof(control_mode)); struct vehicle_attitude_s att; @@ -173,8 +173,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) /* subscribe to parameter changes */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); - /* subscribe to safety topic */ - int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + /* subscribe to armed topic */ + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); /* subscribe to safety topic */ int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); @@ -270,7 +270,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) /* got flow, updating attitude and status as well */ orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp); - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); /* vehicle state estimation */ @@ -284,12 +284,12 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) if (!vehicle_liftoff) { - if (safety.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f) + if (armed.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f) vehicle_liftoff = true; } else { - if (!safety.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f)) + if (!armed.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f)) vehicle_liftoff = false; } @@ -356,7 +356,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) } /* filtering ground distance */ - if (!vehicle_liftoff || !safety.armed) + if (!vehicle_liftoff || !armed.armed) { /* not possible to fly */ sonar_valid = false; @@ -453,7 +453,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) close(vehicle_attitude_setpoint_sub); close(vehicle_attitude_sub); - close(safety_sub); + close(armed_sub); close(control_mode_sub); close(parameter_update_sub); close(optical_flow_sub); diff --git a/src/examples/flow_speed_control/flow_speed_control_main.c b/src/examples/flow_speed_control/flow_speed_control_main.c index 8032a6264..6af955cd7 100644 --- a/src/examples/flow_speed_control/flow_speed_control_main.c +++ b/src/examples/flow_speed_control/flow_speed_control_main.c @@ -55,7 +55,7 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> @@ -156,7 +156,7 @@ flow_speed_control_thread_main(int argc, char *argv[]) uint32_t counter = 0; /* structures */ - struct actuator_safety_s safety; + struct actuator_armed_s armed; struct vehicle_control_mode_s control_mode; struct filtered_bottom_flow_s filtered_flow; struct vehicle_bodyframe_speed_setpoint_s speed_sp; @@ -166,7 +166,7 @@ flow_speed_control_thread_main(int argc, char *argv[]) /* subscribe to attitude, motor setpoints and system state */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow)); int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint)); @@ -229,8 +229,8 @@ flow_speed_control_thread_main(int argc, char *argv[]) { perf_begin(mc_loop_perf); - /* get a local copy of the safety topic */ - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + /* get a local copy of the armed topic */ + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); /* get a local copy of the control mode */ orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); /* get a local copy of filtered bottom flow */ @@ -355,7 +355,7 @@ flow_speed_control_thread_main(int argc, char *argv[]) close(vehicle_attitude_sub); close(vehicle_bodyframe_speed_setpoint_sub); close(filtered_bottom_flow_sub); - close(safety_sub); + close(armed_sub); close(control_mode_sub); close(att_sp_pub); diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 2b0b3a415..c4ee605cc 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -76,9 +76,10 @@ #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/subsystem_info.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/differential_pressure.h> +#include <uORB/topics/safety.h> #include <mavlink/mavlink_log.h> #include <drivers/drv_led.h> @@ -177,7 +178,7 @@ int led_off(int led); void do_reboot(void); -void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety); +void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed); // int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); @@ -253,7 +254,7 @@ void do_reboot() -void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety) +void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed) { /* result of the command */ uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; @@ -273,13 +274,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta } if ((int)cmd->param1 & VEHICLE_MODE_FLAG_SAFETY_ARMED) { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; } } else { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; @@ -292,14 +293,14 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta /* request to arm */ if ((int)cmd->param1 == 1) { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; } /* request to disarm */ } else if ((int)cmd->param1 == 0) { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; } else { result = VEHICLE_CMD_RESULT_DENIED; @@ -312,7 +313,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta /* request for an autopilot reboot */ if ((int)cmd->param1 == 1) { - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, armed_pub, armed, mavlink_fd)) { /* reboot is executed later, after positive tune is sent */ result = VEHICLE_CMD_RESULT_ACCEPTED; tune_positive(); @@ -361,7 +362,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if(low_prio_task == LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; /* now set the task for the low prio thread */ low_prio_task = LOW_PRIO_TASK_GYRO_CALIBRATION; @@ -380,7 +381,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if(low_prio_task == LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; /* now set the task for the low prio thread */ low_prio_task = LOW_PRIO_TASK_MAG_CALIBRATION; @@ -400,7 +401,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta // if(low_prio_task == LOW_PRIO_TASK_NONE) { // /* try to go to INIT/PREFLIGHT arming state */ - // if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + // if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { // result = VEHICLE_CMD_RESULT_ACCEPTED; // /* now set the task for the low prio thread */ // low_prio_task = LOW_PRIO_TASK_ALTITUDE_CALIBRATION; @@ -421,7 +422,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta // if(low_prio_task == LOW_PRIO_TASK_NONE) { // /* try to go to INIT/PREFLIGHT arming state */ - // if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + // if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { // result = VEHICLE_CMD_RESULT_ACCEPTED; // /* now set the task for the low prio thread */ // low_prio_task = LOW_PRIO_TASK_RC_CALIBRATION; @@ -441,7 +442,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if(low_prio_task == LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; /* now set the task for the low prio thread */ low_prio_task = LOW_PRIO_TASK_ACCEL_CALIBRATION; @@ -460,7 +461,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if(low_prio_task == LOW_PRIO_TASK_NONE) { /* try to go to INIT/PREFLIGHT arming state */ - if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) { + if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) { result = VEHICLE_CMD_RESULT_ACCEPTED; /* now set the task for the low prio thread */ low_prio_task = LOW_PRIO_TASK_AIRSPEED_CALIBRATION; @@ -734,12 +735,11 @@ int commander_thread_main(int argc, char *argv[]) /* make sure we are in preflight state */ memset(¤t_status, 0, sizeof(current_status)); - /* safety topic */ - struct actuator_safety_s safety; - orb_advert_t safety_pub; - /* Initialize safety with all false */ - memset(&safety, 0, sizeof(safety)); - + /* armed topic */ + struct actuator_armed_s armed; + orb_advert_t armed_pub; + /* Initialize armed with all false */ + memset(&armed, 0, sizeof(armed)); /* flags for control apps */ struct vehicle_control_mode_s control_mode; @@ -768,8 +768,8 @@ int commander_thread_main(int argc, char *argv[]) /* set battery warning flag */ current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; - /* set safety device detection flag */ + /* set safety device detection flag */ /* XXX do we need this? */ //current_status.flag_safety_present = false; @@ -789,10 +789,7 @@ int commander_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_status), status_pub, ¤t_status); - safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety); - - /* but also subscribe to it */ - int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode); @@ -844,6 +841,11 @@ int commander_thread_main(int argc, char *argv[]) /* XXX what exactly is this for? */ uint64_t last_print_time = 0; + /* Subscribe to safety topic */ + int safety_sub = orb_subscribe(ORB_ID(safety)); + struct safety_s safety; + memset(&safety, 0, sizeof(safety)); + /* Subscribe to manual control data */ int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); struct manual_control_setpoint_s sp_man; @@ -917,7 +919,6 @@ int commander_thread_main(int argc, char *argv[]) /* XXX use this! */ //uint64_t failsave_ll_start_time = 0; - enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; bool state_changed = true; bool param_init_forced = true; @@ -936,7 +937,7 @@ int commander_thread_main(int argc, char *argv[]) /* update parameters */ - if (!safety.armed) { + if (!armed.armed) { if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { warnx("failed setting new system type"); } @@ -990,7 +991,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); /* handle it */ - handle_command(status_pub, ¤t_status, &cmd, safety_pub, &safety); + handle_command(status_pub, ¤t_status, &cmd, armed_pub, &armed); } @@ -1003,7 +1004,7 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); /* update parameters */ - if (!safety.armed) { + if (!armed.armed) { if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { warnx("failed setting new system type"); } @@ -1028,7 +1029,7 @@ int commander_thread_main(int argc, char *argv[]) orb_check(safety_sub, &new_data); if (new_data) { - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(safety), safety_sub, &safety); } /* update global position estimate */ @@ -1170,7 +1171,7 @@ int commander_thread_main(int argc, char *argv[]) /* If in INIT state, try to proceed to STANDBY state */ if (current_status.arming_state == ARMING_STATE_INIT) { // XXX check for sensors - arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd); + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd); } else { // XXX: Add emergency stuff if sensors are lost } @@ -1287,7 +1288,7 @@ int commander_thread_main(int argc, char *argv[]) && (vdop_m < vdop_threshold_m) // XXX note that vdop is 0 for mtk && !home_position_set && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) - && !safety.armed) { + && !armed.armed) { warnx("setting home position"); /* copy position data to uORB home message, store it locally as well */ @@ -1579,7 +1580,7 @@ int commander_thread_main(int argc, char *argv[]) mavlink_log_critical(mavlink_fd, "DISARM DENY, go manual mode first"); tune_negative(); } else { - arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd); + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd); tune_positive(); } @@ -1595,13 +1596,12 @@ int commander_thread_main(int argc, char *argv[]) } } - /* check if left stick is in lower right position --> arm */ - if (current_status.flag_control_manual_enabled && - current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS && + /* check if left stick is in lower right position and we're in manual --> arm */ + if (!control_mode.flag_control_position_enabled && !control_mode.flag_control_velocity_enabled && sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - arming_state_transition(status_pub, ¤t_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd); + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd); stick_on_counter = 0; tune_positive(); @@ -1704,13 +1704,13 @@ int commander_thread_main(int argc, char *argv[]) // XXX check if this is correct /* arm / disarm on request */ - if (sp_offboard.armed && !safety.armed) { + if (sp_offboard.armed && !armed.armed) { - arming_state_transition(status_pub, ¤t_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd); + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd); - } else if (!sp_offboard.armed && safety.armed) { + } else if (!sp_offboard.armed && armed.armed) { - arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd); + arming_state_transition(status_pub, ¤t_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd); } } else { @@ -1772,7 +1772,7 @@ int commander_thread_main(int argc, char *argv[]) /* play tone according to evaluation result */ /* check if we recently armed */ - if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) { + if (!arm_tune_played && armed.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) { if (tune_arm() == OK) arm_tune_played = true; @@ -1789,7 +1789,7 @@ int commander_thread_main(int argc, char *argv[]) } /* reset arm_tune_played when disarmed */ - if (!(safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) { + if (!(armed.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) { arm_tune_played = false; } @@ -1812,6 +1812,7 @@ int commander_thread_main(int argc, char *argv[]) close(sp_offboard_sub); close(global_position_sub); close(sensor_sub); + close(safety_sub); close(cmd_sub); warnx("exiting"); diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h index ea96d72a6..b06e85169 100644 --- a/src/modules/commander/commander_helper.h +++ b/src/modules/commander/commander_helper.h @@ -43,7 +43,7 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_control_mode.h> diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index c15fc91a0..0b241d108 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -57,7 +57,7 @@ #include "commander_helper.h" -int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) { +int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd) { int ret = ERROR; @@ -73,8 +73,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta /* allow going back from INIT for calibration */ if (current_state->arming_state == ARMING_STATE_STANDBY) { ret = OK; - safety->armed = false; - safety->ready_to_arm = false; + armed->armed = false; + armed->ready_to_arm = false; } break; case ARMING_STATE_STANDBY: @@ -86,8 +86,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta /* sensors need to be initialized for STANDBY state */ if (current_state->condition_system_sensors_initialized) { ret = OK; - safety->armed = false; - safety->ready_to_arm = true; + armed->armed = false; + armed->ready_to_arm = true; } else { mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized"); } @@ -101,7 +101,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta /* XXX conditions for arming? */ ret = OK; - safety->armed = true; + armed->armed = true; } break; case ARMING_STATE_ARMED_ERROR: @@ -111,7 +111,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta /* XXX conditions for an error state? */ ret = OK; - safety->armed = true; + armed->armed = true; } break; case ARMING_STATE_STANDBY_ERROR: @@ -120,8 +120,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta || current_state->arming_state == ARMING_STATE_INIT || current_state->arming_state == ARMING_STATE_ARMED_ERROR) { ret = OK; - safety->armed = false; - safety->ready_to_arm = false; + armed->armed = false; + armed->ready_to_arm = false; } break; case ARMING_STATE_REBOOT: @@ -132,8 +132,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta || current_state->arming_state == ARMING_STATE_STANDBY_ERROR) { ret = OK; - safety->armed = false; - safety->ready_to_arm = false; + armed->armed = false; + armed->ready_to_arm = false; } break; @@ -151,8 +151,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta current_state->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_status), status_pub, current_state); - safety->timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(actuator_safety), safety_pub, safety); + armed->timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(actuator_armed), armed_pub, armed); } } diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index b553a4b56..e591d2fef 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -46,11 +46,11 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_control_mode.h> -int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd); +int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd); int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd); diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c index 97b585cb7..6eb425705 100644 --- a/src/modules/gpio_led/gpio_led.c +++ b/src/modules/gpio_led/gpio_led.c @@ -51,7 +51,7 @@ #include <systemlib/err.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <poll.h> #include <drivers/drv_gpio.h> #include <modules/px4iofirmware/protocol.h> @@ -63,8 +63,8 @@ struct gpio_led_s { int pin; struct vehicle_status_s status; int vehicle_status_sub; - struct actuator_safety_s safety; - int actuator_safety_sub; + struct actuator_armed_s armed; + int actuator_armed_sub; bool led_state; int counter; }; @@ -233,12 +233,12 @@ void gpio_led_cycle(FAR void *arg) orb_check(priv->vehicle_status_sub, &status_updated); if (status_updated) - orb_copy(ORB_ID(actuator_safety), priv->actuator_safety_sub, &priv->safety); + orb_copy(ORB_ID(actuator_armed), priv->actuator_armed_sub, &priv->armed); /* select pattern for current status */ int pattern = 0; - if (priv->safety.armed) { + if (priv->armed.armed) { if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { pattern = 0x3f; // ****** solid (armed) @@ -247,10 +247,10 @@ void gpio_led_cycle(FAR void *arg) } } else { - if (priv->safety.ready_to_arm) { + if (priv->armed.ready_to_arm) { pattern = 0x00; // ______ off (disarmed, preflight check) - } else if (priv->safety.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { + } else if (priv->armed.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) { pattern = 0x38; // ***___ slow blink (disarmed, ready) } else { diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 95bc8fdc0..57a5d5dd5 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -70,7 +70,7 @@ 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_safety_s safety; +struct actuator_armed_s armed; struct actuator_controls_effective_s actuators_0; struct vehicle_attitude_s att; @@ -110,7 +110,7 @@ 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_safety(const struct listener *l); +static void l_actuator_armed(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); @@ -135,7 +135,7 @@ 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_safety, &mavlink_subs.safety_sub, 0}, + {l_actuator_armed, &mavlink_subs.armed_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_safety), mavlink_subs.safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); /* 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 && safety.armed) { + if (mavlink_hil_enabled && armed.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_safety(const struct listener *l) +l_actuator_armed(const struct listener *l) { - orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); } void @@ -759,8 +759,8 @@ uorb_receive_start(void) orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */ /* --- ACTUATOR ARMED VALUE --- */ - mavlink_subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety)); - orb_set_interval(mavlink_subs.safety_sub, 100); /* 10Hz updates */ + mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */ /* --- MAPPED MANUAL CONTROL INPUTS --- */ mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h index 3b968b911..506f73105 100644 --- a/src/modules/mavlink/orb_topics.h +++ b/src/modules/mavlink/orb_topics.h @@ -60,7 +60,7 @@ #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/telemetry_status.h> #include <uORB/topics/debug_key_value.h> @@ -79,6 +79,7 @@ struct mavlink_subscriptions { int man_control_sp_sub; int safety_sub; int actuators_sub; + int armed_sub; int local_pos_sub; int spa_sub; int spl_sub; diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 2d5a64ee8..9ed2c6c12 100644 --- a/src/modules/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c @@ -273,7 +273,7 @@ void mavlink_update_system(void) } void -get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety, +get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed, uint8_t *mavlink_state, uint8_t *mavlink_mode) { /* reset MAVLink mode bitfield */ @@ -284,12 +284,12 @@ get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, co *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; } - if (safety->hil_enabled) { + if (control_mode->flag_system_hil_enabled) { *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; } /* set arming state */ - if (safety->armed) { + if (armed->armed) { *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } else { *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; @@ -370,7 +370,7 @@ int mavlink_thread_main(int argc, char *argv[]) /* XXX this is never written? */ struct vehicle_status_s v_status; struct vehicle_control_mode_s control_mode; - struct actuator_safety_s safety; + struct actuator_armed_s armed; /* work around some stupidity in task_create's argv handling */ argc -= 2; @@ -438,7 +438,7 @@ 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(&control_mode, &safety, &mavlink_state, &mavlink_mode); + get_mavlink_mode_and_state(&control_mode, &armed, &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 f01f09e12..1b49c9ce4 100644 --- a/src/modules/mavlink_onboard/orb_topics.h +++ b/src/modules/mavlink_onboard/orb_topics.h @@ -56,7 +56,7 @@ #include <uORB/topics/optical_flow.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/debug_key_value.h> #include <drivers/drv_rc_input.h> diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h index c6a2e52bf..c84b6fd26 100644 --- a/src/modules/mavlink_onboard/util.h +++ b/src/modules/mavlink_onboard/util.h @@ -51,5 +51,5 @@ 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_control_mode_s *control_mode, const struct actuator_safety_s *safety, +get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed, uint8_t *mavlink_state, uint8_t *mavlink_mode); diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 70a61fc4e..20502c0ea 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -58,7 +58,7 @@ #include <uORB/uORB.h> #include <drivers/drv_gyro.h> #include <uORB/topics/vehicle_control_mode.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> @@ -94,8 +94,8 @@ mc_thread_main(int argc, char *argv[]) /* declare and safely initialize all structs */ struct vehicle_control_mode_s control_mode; memset(&control_mode, 0, sizeof(control_mode)); - struct actuator_safety_s safety; - memset(&safety, 0, sizeof(safety)); + struct actuator_armed_s armed; + memset(&armed, 0, sizeof(armed)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); struct vehicle_attitude_setpoint_s att_sp; @@ -121,7 +121,7 @@ mc_thread_main(int argc, char *argv[]) int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); - int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); @@ -210,10 +210,10 @@ mc_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode); } - orb_check(safety_sub, &updated); + orb_check(armed_sub, &updated); if (updated) { - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); } /* get a local copy of manual setpoint */ @@ -261,7 +261,7 @@ mc_thread_main(int argc, char *argv[]) /* initialize to current yaw if switching to manual or att control */ if (control_mode.flag_control_attitude_enabled != flag_control_attitude_enabled || control_mode.flag_control_manual_enabled != flag_control_manual_enabled || - safety.armed != flag_armed) { + armed.armed != flag_armed) { att_sp.yaw_body = att.yaw; } @@ -275,7 +275,7 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = manual.pitch; /* set attitude if arming */ - if (!flag_control_attitude_enabled && safety.armed) { + if (!flag_control_attitude_enabled && armed.armed) { att_sp.yaw_body = att.yaw; } @@ -366,7 +366,7 @@ mc_thread_main(int argc, char *argv[]) flag_control_manual_enabled = control_mode.flag_control_manual_enabled; flag_control_position_enabled = control_mode.flag_control_position_enabled; flag_control_velocity_enabled = control_mode.flag_control_velocity_enabled; - flag_armed = safety.armed; + flag_armed = armed.armed; perf_end(mc_loop_perf); } /* end of poll call for attitude updates */ diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 80ee3adee..b20d38b5e 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -60,7 +60,7 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/vehicle_attitude.h> @@ -194,7 +194,7 @@ static int file_copy(const char *file_old, const char *file_new); static void handle_command(struct vehicle_command_s *cmd); -static void handle_status(struct actuator_safety_s *safety); +static void handle_status(struct actuator_armed_s *armed); /** * Create folder for current logging session. Store folder name in 'log_folder'. @@ -628,8 +628,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_status_s buf_status; memset(&buf_status, 0, sizeof(buf_status)); - struct actuator_safety_s buf_safety; - memset(&buf_safety, 0, sizeof(buf_safety)); + struct actuator_armed_s buf_armed; + memset(&buf_armed, 0, sizeof(buf_armed)); /* warning! using union here to save memory, elements should be used separately! */ union { @@ -659,7 +659,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct { int cmd_sub; int status_sub; - int safety_sub; + int armed_sub; int sensor_sub; int att_sub; int att_sp_sub; @@ -717,9 +717,9 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; - /* --- SAFETY --- */ - subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety)); - fds[fdsc_count].fd = subs.safety_sub; + /* --- ACTUATOR ARMED --- */ + subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + fds[fdsc_count].fd = subs.armed_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; @@ -896,12 +896,12 @@ int sdlog2_thread_main(int argc, char *argv[]) handled_topics++; } - /* --- SAFETY- LOG MANAGEMENT --- */ + /* --- ARMED- LOG MANAGEMENT --- */ if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(actuator_safety), subs.safety_sub, &buf_safety); + orb_copy(ORB_ID(actuator_armed), subs.armed_sub, &buf_armed); if (log_when_armed) { - handle_status(&buf_safety); + handle_status(&buf_armed); } handled_topics++; @@ -912,7 +912,7 @@ int sdlog2_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status); //if (log_when_armed) { - // handle_status(&buf_safety); + // handle_status(&buf_armed); //} //handled_topics++; @@ -944,7 +944,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_STAT.flight_mode = 0; log_msg.body.log_STAT.manual_control_mode = 0; log_msg.body.log_STAT.manual_sas_mode = 0; - log_msg.body.log_STAT.armed = (unsigned char) buf_safety.armed; /* XXX fmu armed correct? */ + log_msg.body.log_STAT.armed = (unsigned char) buf_armed.armed; /* XXX fmu armed correct? */ log_msg.body.log_STAT.battery_voltage = buf_status.voltage_battery; log_msg.body.log_STAT.battery_current = buf_status.current_battery; log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; @@ -1348,10 +1348,10 @@ void handle_command(struct vehicle_command_s *cmd) } } -void handle_status(struct actuator_safety_s *safety) +void handle_status(struct actuator_armed_s *armed) { - if (safety->armed != flag_system_armed) { - flag_system_armed = safety->armed; + if (armed->armed != flag_system_armed) { + flag_system_armed = armed->armed; if (flag_system_armed) { sdlog2_start_log(); diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index a061fe676..ed77bb7ef 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -77,6 +77,9 @@ ORB_DEFINE(home_position, struct home_position_s); #include "topics/vehicle_status.h" ORB_DEFINE(vehicle_status, struct vehicle_status_s); +#include "topics/safety.h" +ORB_DEFINE(safety, struct safety_s); + #include "topics/battery_status.h" ORB_DEFINE(battery_status, struct battery_status_s); @@ -153,8 +156,8 @@ ORB_DEFINE(actuator_controls_1, struct actuator_controls_s); ORB_DEFINE(actuator_controls_2, struct actuator_controls_s); ORB_DEFINE(actuator_controls_3, struct actuator_controls_s); -#include "topics/actuator_safety.h" -ORB_DEFINE(actuator_safety, struct actuator_safety_s); +#include "topics/actuator_armed.h" +ORB_DEFINE(actuator_armed, struct actuator_armed_s); /* actuator controls, as set by actuators / mixers after limiting */ #include "topics/actuator_controls_effective.h" diff --git a/src/modules/uORB/topics/actuator_safety.h b/src/modules/uORB/topics/actuator_armed.h index c431217ab..6e944ffee 100644 --- a/src/modules/uORB/topics/actuator_safety.h +++ b/src/modules/uORB/topics/actuator_armed.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,35 +32,27 @@ ****************************************************************************/ /** - * @file actuator_controls.h + * @file actuator_armed.h * - * Actuator control topics - mixer inputs. + * Actuator armed topic * - * Values published to these topics are the outputs of the vehicle control - * system, and are expected to be mixed and used to drive the actuators - * (servos, speed controls, etc.) that operate the vehicle. - * - * Each topic can be published by a single controller */ -#ifndef TOPIC_ACTUATOR_SAFETY_H -#define TOPIC_ACTUATOR_SAFETY_H +#ifndef TOPIC_ACTUATOR_ARMED_H +#define TOPIC_ACTUATOR_ARMED_H #include <stdint.h> #include "../uORB.h" /** global 'actuator output is live' control. */ -struct actuator_safety_s { +struct actuator_armed_s { uint64_t timestamp; - bool safety_switch_available; /**< Set to true if a safety switch is connected */ - bool safety_off; /**< Set to true if safety is off */ bool armed; /**< Set to true if system is armed */ bool ready_to_arm; /**< Set to true if system is ready to be armed */ bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ - bool hil_enabled; /**< Set to true if hardware-in-the-loop (HIL) is enabled */ }; -ORB_DECLARE(actuator_safety); +ORB_DECLARE(actuator_armed); #endif
\ No newline at end of file diff --git a/src/modules/uORB/topics/safety.h b/src/modules/uORB/topics/safety.h new file mode 100644 index 000000000..a5d21cd4a --- /dev/null +++ b/src/modules/uORB/topics/safety.h @@ -0,0 +1,57 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file safety.h + * + * Safety topic to pass safety state from px4io driver to commander + * This concerns only the safety button of the px4io but has nothing to do + * with arming/disarming. + */ + +#ifndef TOPIC_SAFETY_H +#define TOPIC_SAFETY_H + +#include <stdint.h> +#include "../uORB.h" + +struct safety_s { + + uint64_t timestamp; + bool safety_switch_available; /**< Set to true if a safety switch is connected */ + bool safety_off; /**< Set to true if safety is off */ +}; + +ORB_DECLARE(safety); + +#endif
\ No newline at end of file diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 177e30898..02bf5568a 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -69,9 +69,13 @@ struct vehicle_control_mode_s bool flag_system_emergency; bool flag_preflight_calibration; + // XXX needs yet to be set by state machine helper + bool flag_system_hil_enabled; + bool flag_control_manual_enabled; /**< true if manual input is mixed in */ bool flag_control_offboard_enabled; /**< true if offboard control input is on */ - bool flag_auto_enabled; + // XXX shouldn't be necessairy + //bool flag_auto_enabled; bool flag_control_rates_enabled; /**< true if rates are stabilized */ bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ bool flag_control_velocity_enabled; /**< true if speed (implies direction) is controlled */ |