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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* 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 telemetry_status.h
*
* Telemetry status topics - radio status outputs
*/
#ifndef TOPIC_TELEMETRY_STATUS_H
#define TOPIC_TELEMETRY_STATUS_H
#include <stdint.h>
#include "../uORB.h"
enum TELEMETRY_STATUS_RADIO_TYPE {
TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
TELEMETRY_STATUS_RADIO_TYPE_WIRE
};
/**
* @addtogroup topics
* @{
*/
struct telemetry_status_s {
uint64_t timestamp;
uint64_t heartbeat_time; /**< Time of last received heartbeat from remote system */
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
uint8_t rssi; /**< local signal strength */
uint8_t remote_rssi; /**< remote signal strength */
uint16_t rxerrors; /**< receive errors */
uint16_t fixed; /**< count of error corrected packets */
uint8_t noise; /**< background noise level */
uint8_t remote_noise; /**< remote background noise level */
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
};
/**
* @}
*/
ORB_DECLARE(telemetry_status_0);
ORB_DECLARE(telemetry_status_1);
ORB_DECLARE(telemetry_status_2);
ORB_DECLARE(telemetry_status_3);
#define TELEMETRY_STATUS_ORB_ID_NUM 4
static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
ORB_ID(telemetry_status_0),
ORB_ID(telemetry_status_1),
ORB_ID(telemetry_status_2),
ORB_ID(telemetry_status_3),
};
// This is a hack to quiet an unused-variable warning for when telemetry_status.h is
// included but telemetry_status_orb_id is not referenced. The inline works if you
// choose to use it, but you can continue to just directly index into the array as well.
// If you don't use the inline this ends up being a no-op with no additional code emitted.
extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index);
extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index)
{
return telemetry_status_orb_id[index];
}
#endif /* TOPIC_TELEMETRY_STATUS_H */
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