extend and use takeoff_status message

Author: roman-dvorak

msg/CMakeLists.txt

@@ -51,7 +51,6 @@ set(msg_files
 	airspeed_validated.msg
 	airspeed_wind.msg
 	autotune_attitude_control_status.msg
-	autogyro_takeoff_status.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_status.msg

msg/autogyro_takeoff_status.msg

@@ -10,5 +10,6 @@ uint8 TAKEOFF_STATE_RAMPUP            = 4
 uint8 TAKEOFF_STATE_FLIGHT            = 5
 
 uint8 takeoff_state
+uint64 time_in_state
 
 float32 tilt_limit # limited tilt feasability during takeoff, contains maximum tilt otherwise

msg/takeoff_status.msg

@@ -78,10 +78,7 @@ void AutogyroTakeoff::update(const hrt_abstime &now, float airspeed, float rotor
 			     double current_lat, double current_lon, orb_advert_t *mavlink_log_pub)
 {
 	_climbout = true;
-	autogyro_takeoff_status_s autogyro_takeoff_status = {};
-
-
-	autogyro_takeoff_status.rpm = false;
+	takeoff_status_s takeoff_status = {};
 
 	switch (_state) {
 	/*
@@ -105,7 +102,6 @@ void AutogyroTakeoff::update(const hrt_abstime &now, float airspeed, float rotor
 	case AutogyroTakeoffState::PRE_TAKEOFF_PREROTATE_START:
 
 		if (rotor_rpm > _param_ag_prerotator_minimal_rpm.get()) {
-			autogyro_takeoff_status.rpm = true;
 
 			// Eletrical prerotator, controlled from autopilot
 			if (_param_ag_prerotator_type.get() == AutogyroTakeoffType::ELPREROT_PLATFORM
@@ -140,7 +136,6 @@ void AutogyroTakeoff::update(const hrt_abstime &now, float airspeed, float rotor
 	case AutogyroTakeoffState::PRE_TAKEOFF_PREROTATE:  // 1
 
 		if (rotor_rpm > _param_ag_prerotator_target_rpm.get()) {
-			autogyro_takeoff_status.rpm = true;
 			_state = AutogyroTakeoffState::PRE_TAKEOFF_DONE;
 			_time_in_state = now;
 			play_next_tone();
@@ -160,7 +155,6 @@ void AutogyroTakeoff::update(const hrt_abstime &now, float airspeed, float rotor
 			bool ready_for_release = true;
 
 			if (rotor_rpm < _param_ag_rotor_flight_rpm.get()) {
-				autogyro_takeoff_status.rpm = true;
 				ready_for_release = false;
 
 				// Some histesis needs to be applied for the start interrupt procedure.
@@ -204,8 +198,6 @@ void AutogyroTakeoff::update(const hrt_abstime &now, float airspeed, float rotor
 				play_release_tone();
 			}
 
-			autogyro_takeoff_status.rpm = true;
-
 			if (alt_agl > _param_rwto_nav_alt.get()) {
 				mavlink_log_info(mavlink_log_pub, "Climbout");
 				_state = AutogyroTakeoffState::TAKEOFF_CLIMBOUT;
@@ -228,8 +220,6 @@ void AutogyroTakeoff::update(const hrt_abstime &now, float airspeed, float rotor
 	    OUT: Mission continue
 	*/
 	case AutogyroTakeoffState::TAKEOFF_CLIMBOUT:
-		autogyro_takeoff_status.rpm = true;
-
 		if (alt_agl > _param_fw_clmbout_diff.get()) {
 			_climbout = false;
 			_state = AutogyroTakeoffState::FLY;
@@ -249,10 +239,9 @@ void AutogyroTakeoff::update(const hrt_abstime &now, float airspeed, float rotor
 
 
 
-	autogyro_takeoff_status.time_in_state = hrt_elapsed_time(&_time_in_state);
-	autogyro_takeoff_status.state = (int) _state;
-	autogyro_takeoff_status.climbout = _climbout;
-	_autogyro_takeoff_status_pub.publish(autogyro_takeoff_status);
+	takeoff_status.time_in_state = hrt_elapsed_time(&_time_in_state);
+	takeoff_status.takeoff_state = (int) _state;
+	_takeoff_status_pub.publish(takeoff_status);
 
 	if (hrt_elapsed_time(&_last_sent_release_status) > 1_s / 4 || _state != _state_last) {
 		_last_sent_release_status = now;

src/modules/fw_pos_control_l1/autogyro_takeoff/AutogyroTakeoff.cpp

@@ -51,7 +51,7 @@
 #include <matrix/math.hpp>
 
 #include <uORB/Publication.hpp>
-#include <uORB/topics/autogyro_takeoff_status.h>
+#include <uORB/topics/takeoff_status.h>
 #include <uORB/topics/debug_value.h>
 #include <uORB/topics/tune_control.h>
 
@@ -135,7 +135,7 @@ class __EXPORT AutogyroTakeoff : public ModuleParams
 	matrix::Vector2d _takeoff_wp;
 
 	uORB::Publication<tune_control_s> _tune_control{ORB_ID(tune_control)};
-	uORB::Publication<autogyro_takeoff_status_s> _autogyro_takeoff_status_pub{ORB_ID(autogyro_takeoff_status)};
+	uORB::Publication<takeoff_status_s> _takeoff_status_pub{ORB_ID(takeoff_status)};
 
 	// TODO: templorary sollution. Should be replaced with autogyro takeoff status with
 	// translation into custom mavlink message.  Used to inform launch platform to