diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_att_control_main.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 18 |
1 files changed, 9 insertions, 9 deletions
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 */ |