diff options
Diffstat (limited to 'src/modules/mavlink_onboard')
-rw-r--r-- | src/modules/mavlink_onboard/mavlink.c | 10 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/orb_topics.h | 2 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/util.h | 2 |
3 files changed, 7 insertions, 7 deletions
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); |