ORB topic for drive testing requests

2 files changed, 73 insertions, 0 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index f7d5f8737..b8cdb45eb 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -198,6 +198,9 @@ ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
 ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
 ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
 
+#include "topics/test_motor.h"
+ORB_DEFINE(test_motor, struct test_motor_s);
+
 #include "topics/debug_key_value.h"
 ORB_DEFINE(debug_key_value, struct debug_key_value_s);
 
diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h
new file mode 100644
index 000000000..491096934
--- /dev/null
+++ b/src/modules/uORB/topics/test_motor.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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 test_motor.h
+ *
+ * Test a single drive motor while the vehicle is disarmed
+ *
+ * Publishing values to this topic causes a single motor to spin, e.g. for
+ * ground test purposes. This topic will be ignored while the vehicle is armed.
+ *
+ */
+
+#ifndef TOPIC_TEST_MOTOR_H
+#define TOPIC_TEST_MOTOR_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_MOTOR_OUTPUTS	8
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct test_motor_s {
+	uint64_t 	timestamp;				/**< output timestamp in us since system boot */
+	unsigned 	motor_number;				/**< number of motor to spin */
+	float		value;					/**< output data, in natural output units */
+};
+
+/**
+ * @}
+ */
+
+/* actuator output sets; this list can be expanded as more drivers emerge */
+ORB_DECLARE(test_motor);
+
+#endif