diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 67 |
1 files changed, 30 insertions, 37 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 6765100c7..be7d91c65 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -103,13 +103,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *mavlink_custom_mode = 0; /* HIL */ - if (status->hil_state == HIL_STATE_ON) { + if (status->hil_state == vehicle_status_s::HIL_STATE_ON) { *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; } /* arming state */ - if (status->arming_state == ARMING_STATE_ARMED - || status->arming_state == ARMING_STATE_ARMED_ERROR) { + if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED + || status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) { *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } @@ -121,31 +121,31 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set switch (status->nav_state) { - case NAVIGATION_STATE_MANUAL: + case vehicle_status_s::NAVIGATION_STATE_MANUAL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; - case NAVIGATION_STATE_ACRO: + case vehicle_status_s::NAVIGATION_STATE_ACRO: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; break; - case NAVIGATION_STATE_ALTCTL: + case vehicle_status_s::NAVIGATION_STATE_ALTCTL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; break; - case NAVIGATION_STATE_POSCTL: + case vehicle_status_s::NAVIGATION_STATE_POSCTL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; break; - case NAVIGATION_STATE_AUTO_MISSION: + case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -153,7 +153,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; break; - case NAVIGATION_STATE_AUTO_LOITER: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -161,9 +161,9 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; break; - case NAVIGATION_STATE_AUTO_RTL: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: /* fallthrough */ - case NAVIGATION_STATE_AUTO_RCRECOVER: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -171,11 +171,11 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; break; - case NAVIGATION_STATE_LAND: - case NAVIGATION_STATE_AUTO_LANDENGFAIL: - case NAVIGATION_STATE_AUTO_LANDGPSFAIL: + case vehicle_status_s::NAVIGATION_STATE_LAND: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL: + case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL: /* fallthrough */ - case NAVIGATION_STATE_DESCEND: + case vehicle_status_s::NAVIGATION_STATE_DESCEND: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -183,7 +183,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; break; - case NAVIGATION_STATE_AUTO_RTGS: + case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -191,19 +191,19 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS; break; - case NAVIGATION_STATE_TERMINATION: + case vehicle_status_s::NAVIGATION_STATE_TERMINATION: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; - case NAVIGATION_STATE_OFFBOARD: + case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD; break; - case NAVIGATION_STATE_MAX: + case vehicle_status_s::NAVIGATION_STATE_MAX: /* this is an unused case, ignore */ break; @@ -212,21 +212,21 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *mavlink_custom_mode = custom_mode.data; /* set system state */ - if (status->arming_state == ARMING_STATE_INIT - || status->arming_state == ARMING_STATE_IN_AIR_RESTORE - || status->arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review + if (status->arming_state == vehicle_status_s::ARMING_STATE_INIT + || status->arming_state == vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE + || status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { // TODO review *mavlink_state = MAV_STATE_UNINIT; - } else if (status->arming_state == ARMING_STATE_ARMED) { + } else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { *mavlink_state = MAV_STATE_ACTIVE; - } else if (status->arming_state == ARMING_STATE_ARMED_ERROR) { + } else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) { *mavlink_state = MAV_STATE_CRITICAL; - } else if (status->arming_state == ARMING_STATE_STANDBY) { + } else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) { *mavlink_state = MAV_STATE_STANDBY; - } else if (status->arming_state == ARMING_STATE_REBOOT) { + } else if (status->arming_state == vehicle_status_s::ARMING_STATE_REBOOT) { *mavlink_state = MAV_STATE_POWEROFF; } else { @@ -1342,14 +1342,7 @@ protected: _act_sub(nullptr), _act_time(0) { - orb_id_t act_topics[] = { - ORB_ID(actuator_outputs_0), - ORB_ID(actuator_outputs_1), - ORB_ID(actuator_outputs_2), - ORB_ID(actuator_outputs_3) - }; - - _act_sub = _mavlink->add_orb_subscription(act_topics[N]); + _act_sub = _mavlink->add_orb_subscription(ORB_ID(actuator_outputs), N); } void send(const hrt_abstime t) @@ -1424,7 +1417,7 @@ protected: _status_time(0), _pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet))), _pos_sp_triplet_time(0), - _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0))), + _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs))), _act_time(0) {} @@ -1438,7 +1431,7 @@ protected: updated |= _pos_sp_triplet_sub->update(&_pos_sp_triplet_time, &pos_sp_triplet); updated |= _status_sub->update(&_status_time, &status); - if (updated && (status.arming_state == ARMING_STATE_ARMED)) { + if (updated && (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; @@ -2205,7 +2198,7 @@ protected: msg.param2 = 0; msg.param3 = 0; /* set camera capture ON/OFF depending on arming state */ - msg.param4 = (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) ? 1 : 0; + msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED || status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ? 1 : 0; msg.param5 = 0; msg.param6 = 0; msg.param7 = 0; |