Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-12 23:42:23 +08:00
Code Issues Actions 9 Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'px4/new_state_machine_drton' into fmuv2_bringup_new_state_machine_drton

Browse Source 
Conflicts:
	src/drivers/blinkm/blinkm.cpp
	src/drivers/px4io/px4io.cpp
	src/modules/commander/state_machine_helper.c
	src/modules/px4iofirmware/protocol.h
	src/modules/px4iofirmware/registers.c
	src/modules/systemlib/systemlib.h
	src/systemcmds/reboot/reboot.c
This commit is contained in:
Julian Oes
2013-08-15 14:04:46 +02:00
parent 50cf1c01b7 561ec495b7
commit 56575eb068
86 changed files with 5851 additions and 3938 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/mkblctrl/mkblctrl.cpp
+8 -7
View File
@@ -75,6 +75,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>
#include <systemlib/err.h>
@@ -135,7 +136,7 @@ private:
int _current_update_rate;
int _task;
int _t_actuators;
int _t_armed;
int _t_actuator_armed;
unsigned int _motor;
int _px4mode;
int _frametype;
@@ -248,7 +249,7 @@ MK::MK(int bus) :
_update_rate(50),
_task(-1),
_t_actuators(-1),
_t_armed(-1),
_t_actuator_armed(-1),
_t_outputs(0),
_t_actuators_effective(0),
_t_esc_status(0),
@@ -513,8 +514,8 @@ 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_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */
/* advertise the mixed control outputs */
actuator_outputs_s outputs;
@@ -540,7 +541,7 @@ 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_armed;
fds[1].events = POLLIN;
log("starting");
@@ -654,7 +655,7 @@ MK::task_main()
actuator_armed_s aa;
/* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa);
/* update PWM servo armed status if armed and not locked down */
mk_servo_arm(aa.armed && !aa.lockdown);
@@ -700,7 +701,7 @@ MK::task_main()
//::close(_t_esc_status);
::close(_t_actuators);
::close(_t_actuators_effective);
::close(_t_armed);
::close(_t_actuator_armed);
/* make sure servos are off */