diff options
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/blinkm/blinkm.cpp | 2 | ||||
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 18 |
2 files changed, 10 insertions, 10 deletions
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index e83a87aa9..9bb020a6b 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -536,7 +536,7 @@ BlinkM::led() /* looking for lipo cells that are connected */ printf("<blinkm> checking cells\n"); for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) { - if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break; + if(vehicle_status_raw.battery_voltage < num_of_cells * MAX_CELL_VOLTAGE) break; } printf("<blinkm> cells found:%d\n", num_of_cells); diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index ea732eccd..827b0bb00 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -77,7 +77,7 @@ #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/safety.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/rc_channels.h> #include <uORB/topics/battery_status.h> @@ -180,7 +180,7 @@ private: /* subscribed topics */ int _t_actuators; ///< actuator controls topic int _t_actuator_armed; ///< system armed control topic - int _t_vstatus; ///< system / vehicle status + int _t_vehicle_control_mode; ///< vehicle control mode topic int _t_param; ///< parameter update topic /* advertised topics */ @@ -362,7 +362,7 @@ PX4IO::PX4IO() : _alarms(0), _t_actuators(-1), _t_actuator_armed(-1), - _t_vstatus(-1), + _t_vehicle_control_mode(-1), _t_param(-1), _to_input_rc(0), _to_actuators_effective(0), @@ -647,8 +647,8 @@ PX4IO::task_main() _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. */ + _t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); + orb_set_interval(_t_vehicle_control_mode, 200); /* 5Hz update rate max. */ _t_param = orb_subscribe(ORB_ID(parameter_update)); orb_set_interval(_t_param, 500); /* 2Hz update rate max. */ @@ -659,7 +659,7 @@ PX4IO::task_main() fds[0].events = POLLIN; fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; - fds[2].fd = _t_vstatus; + fds[2].fd = _t_vehicle_control_mode; fds[2].events = POLLIN; fds[3].fd = _t_param; fds[3].events = POLLIN; @@ -834,10 +834,10 @@ int PX4IO::io_set_arming_state() { actuator_armed_s armed; ///< system armed state - vehicle_status_s vstatus; ///< overall system state + vehicle_control_mode_s control_mode; ///< vehicle_control_mode orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed); - orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus); + orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode); uint16_t set = 0; uint16_t clear = 0; @@ -853,7 +853,7 @@ PX4IO::io_set_arming_state() clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; } - if (vstatus.flag_external_manual_override_ok) { + if (control_mode.flag_external_manual_override_ok) { set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; } else { clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; |