From 1b38cf715d85b15f2200d49b64fbe22a05b71937 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Mon, 15 Jul 2013 22:15:15 +0200
Subject: Renamed actuator_safety back to actuator_armed, compiling but
 untested

---
 src/drivers/ardrone_interface/ardrone_interface.c | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

(limited to 'src/drivers/ardrone_interface')

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 {
-- 
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