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commander: add power button notification callback

This commit is contained in:
Beat Küng 2017-04-18 14:09:48 +02:00 committed by Lorenz Meier
parent 7cb71af949
commit 73cb423db6
1 changed files with 14 additions and 0 deletions
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14
src/modules/commander/commander.cpp
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@ -303,6 +303,16 @@ static void answer_command(struct vehicle_command_s &cmd, unsigned result,
/* publish vehicle status flags from the global variable status_flags*/
static void publish_status_flags(orb_advert_t &vehicle_status_flags_pub);
static int power_button_state_notification_cb(board_power_button_state_notification_e request)
{
// Note: this can be called from IRQ handlers
if (request == PWR_BUTTON_REQUEST_SHUT_DOWN) {
px4_shutdown_request(false, false);
}
return PWR_BUTTON_RESPONSE_SHUT_DOWN_PENDING;
}
/**
* check whether autostart ID is in the reserved range for HIL setups
*/
@ -1378,6 +1388,10 @@ int commander_thread_main(int argc, char *argv[])
PX4_WARN("Buzzer init failed");
}
if (board_register_power_state_notification_cb(power_button_state_notification_cb) != 0) {
PX4_ERR("Failed to register power notification callback");
}
/* vehicle status topic */
memset(&status, 0, sizeof(status));