From 1b38cf715d85b15f2200d49b64fbe22a05b71937 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 15 Jul 2013 22:15:15 +0200 Subject: Renamed actuator_safety back to actuator_armed, compiling but untested --- src/modules/commander/state_machine_helper.c | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) (limited to 'src/modules/commander/state_machine_helper.c') diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index c15fc91a0..0b241d108 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -57,7 +57,7 @@ #include "commander_helper.h" -int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) { +int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd) { int ret = ERROR; @@ -73,8 +73,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta /* allow going back from INIT for calibration */ if (current_state->arming_state == ARMING_STATE_STANDBY) { ret = OK; - safety->armed = false; - safety->ready_to_arm = false; + armed->armed = false; + armed->ready_to_arm = false; } break; case ARMING_STATE_STANDBY: @@ -86,8 +86,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta /* sensors need to be initialized for STANDBY state */ if (current_state->condition_system_sensors_initialized) { ret = OK; - safety->armed = false; - safety->ready_to_arm = true; + armed->armed = false; + armed->ready_to_arm = true; } else { mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized"); } @@ -101,7 +101,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta /* XXX conditions for arming? */ ret = OK; - safety->armed = true; + armed->armed = true; } break; case ARMING_STATE_ARMED_ERROR: @@ -111,7 +111,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta /* XXX conditions for an error state? */ ret = OK; - safety->armed = true; + armed->armed = true; } break; case ARMING_STATE_STANDBY_ERROR: @@ -120,8 +120,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta || current_state->arming_state == ARMING_STATE_INIT || current_state->arming_state == ARMING_STATE_ARMED_ERROR) { ret = OK; - safety->armed = false; - safety->ready_to_arm = false; + armed->armed = false; + armed->ready_to_arm = false; } break; case ARMING_STATE_REBOOT: @@ -132,8 +132,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta || current_state->arming_state == ARMING_STATE_STANDBY_ERROR) { ret = OK; - safety->armed = false; - safety->ready_to_arm = false; + armed->armed = false; + armed->ready_to_arm = false; } break; @@ -151,8 +151,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta current_state->timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_status), status_pub, current_state); - safety->timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(actuator_safety), safety_pub, safety); + armed->timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(actuator_armed), armed_pub, armed); } } -- cgit v1.2.3