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/modules/mavlink_onboard/mavlink.c    | 10 +++++-----
 src/modules/mavlink_onboard/orb_topics.h |  2 +-
 src/modules/mavlink_onboard/util.h       |  2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

(limited to 'src/modules/mavlink_onboard')

diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c
index 2d5a64ee8..9ed2c6c12 100644
--- a/src/modules/mavlink_onboard/mavlink.c
+++ b/src/modules/mavlink_onboard/mavlink.c
@@ -273,7 +273,7 @@ void mavlink_update_system(void)
 }
 
 void
-get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
+get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
 	uint8_t *mavlink_state, uint8_t *mavlink_mode)
 {
 	/* reset MAVLink mode bitfield */
@@ -284,12 +284,12 @@ get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, co
 		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 	}
 
-	if (safety->hil_enabled) {
+	if (control_mode->flag_system_hil_enabled) {
 		*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
 	}
 
 	/* set arming state */
-	if (safety->armed) {
+	if (armed->armed) {
 		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 	} else {
 		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
@@ -370,7 +370,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	/* XXX this is never written? */
 	struct vehicle_status_s v_status;
 	struct vehicle_control_mode_s control_mode;
-	struct actuator_safety_s safety;
+	struct actuator_armed_s armed;
 
 	/* work around some stupidity in task_create's argv handling */
 	argc -= 2;
@@ -438,7 +438,7 @@ int mavlink_thread_main(int argc, char *argv[])
 			/* translate the current system state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
 			uint8_t mavlink_mode = 0;
-			get_mavlink_mode_and_state(&control_mode, &safety, &mavlink_state, &mavlink_mode);
+			get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode);
 
 			/* send heartbeat */
 			mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);
diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h
index f01f09e12..1b49c9ce4 100644
--- a/src/modules/mavlink_onboard/orb_topics.h
+++ b/src/modules/mavlink_onboard/orb_topics.h
@@ -56,7 +56,7 @@
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_rc_input.h>
diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h
index c6a2e52bf..c84b6fd26 100644
--- a/src/modules/mavlink_onboard/util.h
+++ b/src/modules/mavlink_onboard/util.h
@@ -51,5 +51,5 @@ extern volatile bool thread_should_exit;
  * Translate the custom state into standard mavlink modes and state.
  */
 extern void
-get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
+get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
 	uint8_t *mavlink_state, uint8_t *mavlink_mode);
-- 
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