const char *AJAXHandler(int iIndex, int iNumParams, char *pcParam[], char *pcValue[]) {
char *ptrState = getActuatorState(portNum_1);
return ptrState;
}
/*
* publishActuators()
* write PWM values to PX4IO
*/
void
CStateMachine::publishActuators()
{
EArmedState_t eState = getActuatorState();
if(DISARMED == eState)
{
// arm system for output
if(OK != setActuatorState(ARMED))
{
#if MAVLINK_VERBOSE > 1
mavlink_and_console_log_info((void**)m_iMavLinkFd, "PARA: arming actuators \t[failed]\n");
#endif
}
else
{
#if MAVLINK_VERBOSE > 1
mavlink_and_console_log_info((void**)m_iMavLinkFd, "PARA: arming actuators \t[done]\n");
#endif
}
}
else
{
#if MAVLINK_VERBOSE > 1
mavlink_and_console_log_info((void**)m_iMavLinkFd, "PARA: actuators already armed\n");
#endif
}
orb_publish(ORB_ID(actuator_controls_3),
m_actuatorsPub,
&m_sUORBActuatorsControl);
if(OK != setActuatorState(eState))
{
#if MAVLINK_VERBOSE > 1
mavlink_and_console_log_info((void**)m_iMavLinkFd, "PARA: reset actuators arming state \t[failed]\n");
#endif
}
else
{
#if MAVLINK_VERBOSE > 1
mavlink_and_console_log_info((void**)m_iMavLinkFd, "PARA: reset actuators arming state \t[done]\n");
#endif
}
}