From 90f5e30f2a177bed2ac08e76699ec3029292d640 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 14 Jun 2013 13:53:26 +0200
Subject: Introduced new actuator_safety topic

---
 src/modules/mavlink/orb_listener.c | 18 +++++++++---------
 src/modules/mavlink/orb_topics.h   |  3 ++-
 2 files changed, 11 insertions(+), 10 deletions(-)

(limited to 'src/modules/mavlink')

diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index d84406e7a..a4a2ca3e5 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -71,7 +71,7 @@ struct vehicle_local_position_s local_pos;
 struct vehicle_status_s v_status;
 struct rc_channels_s rc;
 struct rc_input_values rc_raw;
-struct actuator_armed_s armed;
+struct actuator_safety_s safety;
 
 struct mavlink_subscriptions mavlink_subs;
 
@@ -109,7 +109,7 @@ static void	l_global_position_setpoint(const struct listener *l);
 static void	l_local_position_setpoint(const struct listener *l);
 static void	l_attitude_setpoint(const struct listener *l);
 static void	l_actuator_outputs(const struct listener *l);
-static void	l_actuator_armed(const struct listener *l);
+static void	l_actuator_safety(const struct listener *l);
 static void	l_manual_control_setpoint(const struct listener *l);
 static void	l_vehicle_attitude_controls(const struct listener *l);
 static void	l_debug_key_value(const struct listener *l);
@@ -133,7 +133,7 @@ static const struct listener listeners[] = {
 	{l_actuator_outputs,		&mavlink_subs.act_1_sub,	1},
 	{l_actuator_outputs,		&mavlink_subs.act_2_sub,	2},
 	{l_actuator_outputs,		&mavlink_subs.act_3_sub,	3},
-	{l_actuator_armed,		&mavlink_subs.armed_sub,	0},
+	{l_actuator_safety,		&mavlink_subs.safety_sub,	0},
 	{l_manual_control_setpoint,	&mavlink_subs.man_control_sp_sub, 0},
 	{l_vehicle_attitude_controls,	&mavlink_subs.actuators_sub,	0},
 	{l_debug_key_value,		&mavlink_subs.debug_key_value,	0},
@@ -269,7 +269,7 @@ l_vehicle_status(const struct listener *l)
 {
 	/* immediately communicate state changes back to user */
 	orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
-	orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
+	orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety);
 
 	/* enable or disable HIL */
 	set_hil_on_off(v_status.flag_hil_enabled);
@@ -466,7 +466,7 @@ l_actuator_outputs(const struct listener *l)
 						  act_outputs.output[7]);
 
 		/* only send in HIL mode */
-		if (mavlink_hil_enabled && armed.armed) {
+		if (mavlink_hil_enabled && safety.armed) {
 
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
@@ -538,9 +538,9 @@ l_actuator_outputs(const struct listener *l)
 }
 
 void
-l_actuator_armed(const struct listener *l)
+l_actuator_safety(const struct listener *l)
 {
-	orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
+	orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety);
 }
 
 void
@@ -745,8 +745,8 @@ uorb_receive_start(void)
 	orb_set_interval(mavlink_subs.act_3_sub, 100);	/* 10Hz updates */
 
 	/* --- ACTUATOR ARMED VALUE --- */
-	mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-	orb_set_interval(mavlink_subs.armed_sub, 100);	/* 10Hz updates */
+	mavlink_subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety));
+	orb_set_interval(mavlink_subs.safety_sub, 100);	/* 10Hz updates */
 
 	/* --- MAPPED MANUAL CONTROL INPUTS --- */
 	mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h
index d61cd43dc..e647b090a 100644
--- a/src/modules/mavlink/orb_topics.h
+++ b/src/modules/mavlink/orb_topics.h
@@ -58,6 +58,7 @@
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_safety.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_rc_input.h>
@@ -72,7 +73,7 @@ struct mavlink_subscriptions {
 	int act_3_sub;
 	int gps_sub;
 	int man_control_sp_sub;
-	int armed_sub;
+	int safety_sub;
 	int actuators_sub;
 	int local_pos_sub;
 	int spa_sub;
-- 
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