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Updated PX4 use / API of low level GPIO and other hardware-centric system facilities

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Lorenz Meier
2016-05-28 14:56:17 +02:00
parent c2e2645c82
commit 7398164fcc
89 changed files with 1294 additions and 1087 deletions
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5
src/modules/commander/state_machine_helper.cpp
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@@ -39,6 +39,7 @@
* @author Julian Oes <julian@oes.ch>
* @author Sander Smeets <sander@droneslab.com>
*/
#include <px4_config.h>
#include <stdio.h>
#include <unistd.h>
@@ -167,7 +168,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
* Perform an atomic state update
*/
#ifdef __PX4_NUTTX
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
#endif
/* enforce lockdown in HIL */
@@ -306,7 +307,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
/* end of atomic state update */
#ifdef __PX4_NUTTX
irqrestore(flags);
px4_leave_critical_section(flags);
#endif
}