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use new safety_button topic for uavcannode Button publishing

This commit is contained in:
Jacob Dahl 2022-04-07 19:56:17 -08:00 committed by Daniel Agar
parent fe26ee244d
commit 3bffe3087d
1 changed files with 6 additions and 7 deletions
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13
src/drivers/uavcannode/Publishers/SafetyButton.hpp
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@ -38,7 +38,7 @@
#include <ardupilot/indication/Button.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/safety.h>
#include <uORB/topics/button_event.h>
namespace uavcannode
{
@ -51,7 +51,7 @@ class SafetyButton :
public:
SafetyButton(px4::WorkItem *work_item, uavcan::INode &node) :
UavcanPublisherBase(ardupilot::indication::Button::DefaultDataTypeID),
uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(safety)),
uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(safety_button)),
uavcan::Publisher<ardupilot::indication::Button>(node)
{
this->setPriority(uavcan::TransferPriority::Default);
@ -69,14 +69,13 @@ public:
void BroadcastAnyUpdates() override
{
// safety -> standard::indication::button
safety_s safety;
button_event_s safety_button;
if (uORB::SubscriptionCallbackWorkItem::update(&safety)) {
if (safety.safety_switch_available) {
if (uORB::SubscriptionCallbackWorkItem::update(&safety_button)) {
if (safety_button.triggered) {
ardupilot::indication::Button Button{};
Button.button = ardupilot::indication::Button::BUTTON_SAFETY;
Button.press_time = safety.safety_off ? UINT8_MAX : 0;
Button.press_time = UINT8_MAX;
uavcan::Publisher<ardupilot::indication::Button>::broadcast(Button);
}
}