From 90f5e30f2a177bed2ac08e76699ec3029292d640 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 14 Jun 2013 13:53:26 +0200 Subject: Introduced new actuator_safety topic --- src/drivers/mkblctrl/mkblctrl.cpp | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) (limited to 'src/drivers/mkblctrl/mkblctrl.cpp') diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index c67276f8a..093b53d42 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -74,6 +74,7 @@ #include #include #include +#include #include @@ -132,7 +133,7 @@ private: int _current_update_rate; int _task; int _t_actuators; - int _t_armed; + int _t_actuator_safety; unsigned int _motor; int _px4mode; int _frametype; @@ -240,7 +241,7 @@ MK::MK(int bus) : _update_rate(50), _task(-1), _t_actuators(-1), - _t_armed(-1), + _t_actuator_safety(-1), _t_outputs(0), _t_actuators_effective(0), _num_outputs(0), @@ -496,8 +497,8 @@ MK::task_main() /* force a reset of the update rate */ _current_update_rate = 0; - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + _t_actuator_safety = orb_subscribe(ORB_ID(actuator_safety)); + orb_set_interval(_t_actuator_safety, 200); /* 5Hz update rate */ /* advertise the mixed control outputs */ actuator_outputs_s outputs; @@ -519,7 +520,7 @@ MK::task_main() pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_armed; + fds[1].fd = _t_actuator_safety; fds[1].events = POLLIN; log("starting"); @@ -625,13 +626,13 @@ MK::task_main() /* how about an arming update? */ if (fds[1].revents & POLLIN) { - actuator_armed_s aa; + actuator_safety_s as; /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); + orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &as); /* update PWM servo armed status if armed and not locked down */ - mk_servo_arm(aa.armed && !aa.lockdown); + mk_servo_arm(as.armed && !as.lockdown); } @@ -639,7 +640,7 @@ MK::task_main() ::close(_t_actuators); ::close(_t_actuators_effective); - ::close(_t_armed); + ::close(_t_actuator_safety); /* make sure servos are off */ -- cgit v1.2.3