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AP_Periph: Use the ArmingStatus broadcast to set the soft_armed state 

This allows things like GPS_RAW_DATA 2 to start to work for SBF GPS's
This commit is contained in:
Michael du Breuil 2021-01-22 16:48:38 -07:00 committed by Andrew Tridgell
parent 05b9aa2fa2
commit 15ce4fb034
1 changed files with 21 additions and 0 deletions
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21
Tools/AP_Periph/can.cpp
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@ -38,6 +38,7 @@
#include <uavcan/equipment/range_sensor/Measurement.h>
#include <uavcan/equipment/hardpoint/Command.h>
#include <uavcan/equipment/esc/Status.h>
#include <uavcan/equipment/safety/ArmingStatus.h>
#include <ardupilot/indication/SafetyState.h>
#include <ardupilot/indication/Button.h>
#include <ardupilot/equipment/trafficmonitor/TrafficReport.h>
@ -525,6 +526,19 @@ static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer)
}
#endif // HAL_GPIO_PIN_SAFE_LED
/*
handle ArmingStatus
*/
static void handle_arming_status(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_equipment_safety_ArmingStatus req;
can_printf("looking to decode a status");
if (uavcan_equipment_safety_ArmingStatus_decode(transfer, transfer->payload_len, &req, nullptr) < 0) {
return;
}
hal.util->set_soft_armed(req.status == UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_STATUS_FULLY_ARMED);
}
#ifdef HAL_PERIPH_ENABLE_GPS
/*
handle gnss::RTCMStream
@ -843,6 +857,10 @@ static void onTransferReceived(CanardInstance* ins,
break;
#endif
case UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_ID:
handle_arming_status(ins, transfer);
break;
#ifdef HAL_PERIPH_ENABLE_GPS
case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID:
handle_RTCMStream(ins, transfer);
@ -923,6 +941,9 @@ static bool shouldAcceptTransfer(const CanardInstance* ins,
*out_data_type_signature = ARDUPILOT_INDICATION_SAFETYSTATE_SIGNATURE;
return true;
#endif
case UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_SIGNATURE;
return true;
#if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NOTIFY)
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_SIGNATURE;