diff options
Diffstat (limited to 'src/modules/uORB/topics/actuator_controls.h')
| -rw-r--r-- | src/modules/uORB/topics/actuator_controls.h | 26 |
1 files changed, 13 insertions, 13 deletions
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h index b7c4196c0..e768ab2f6 100644 --- a/src/modules/uORB/topics/actuator_controls.h +++ b/src/modules/uORB/topics/actuator_controls.h @@ -52,27 +52,27 @@ #define NUM_ACTUATOR_CONTROLS 8 #define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ +/* control sets with pre-defined applications */ +#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) + +/** + * @addtogroup topics + * @{ + */ + struct actuator_controls_s { uint64_t timestamp; float control[NUM_ACTUATOR_CONTROLS]; }; +/** + * @} + */ + /* actuator control sets; this list can be expanded as more controllers emerge */ ORB_DECLARE(actuator_controls_0); ORB_DECLARE(actuator_controls_1); ORB_DECLARE(actuator_controls_2); ORB_DECLARE(actuator_controls_3); -/* control sets with pre-defined applications */ -#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) - -/** global 'actuator output is live' control. */ -struct actuator_armed_s { - bool armed; /**< Set to true if system is armed */ - bool ready_to_arm; /**< Set to true if system is ready to be armed */ - bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ -}; - -ORB_DECLARE(actuator_armed); - -#endif
\ No newline at end of file +#endif |