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/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file offboard_control_setpoint.h
* Definition of the manual_control_setpoint uORB topic.
*/
#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
#include <stdint.h>
#include "../uORB.h"
/**
* Off-board control inputs.
*
* Typically sent by a ground control station / joystick or by
* some off-board controller via C or SIMULINK.
*/
enum OFFBOARD_CONTROL_MODE
{
OFFBOARD_CONTROL_MODE_DIRECT = 0,
OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
/**
* @addtogroup topics
* @{
*/
struct offboard_control_setpoint_s {
uint64_t timestamp;
enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
bool armed; /**< Armed flag set, yes / no */
float p1; /**< ailerons roll / roll rate input */
float p2; /**< elevator / pitch / pitch rate */
float p3; /**< rudder / yaw rate / yaw */
float p4; /**< throttle / collective thrust / altitude */
float override_mode_switch;
float aux1_cam_pan_flaps;
float aux2_cam_tilt;
float aux3_cam_zoom;
float aux4_cam_roll;
}; /**< offboard control inputs */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(offboard_control_setpoint);
#endif
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