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author | px4dev <px4@purgatory.org> | 2012-10-14 17:59:15 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-10-14 17:59:15 -0700 |
commit | 7c20e666815a2259235db7b45db86fd4ce3ec999 (patch) | |
tree | 94eaf46ef6b9ed940717285b85f6d57d004e4da6 /apps/mavlink/mavlink_hil.h | |
parent | db0ec8eb0293b96b8698a649fb26951739f77915 (diff) | |
download | px4-firmware-7c20e666815a2259235db7b45db86fd4ce3ec999.tar.gz px4-firmware-7c20e666815a2259235db7b45db86fd4ce3ec999.tar.bz2 px4-firmware-7c20e666815a2259235db7b45db86fd4ce3ec999.zip |
Refactor and start tidying up the MAVLink app.
Diffstat (limited to 'apps/mavlink/mavlink_hil.h')
-rw-r--r-- | apps/mavlink/mavlink_hil.h | 57 |
1 files changed, 57 insertions, 0 deletions
diff --git a/apps/mavlink/mavlink_hil.h b/apps/mavlink/mavlink_hil.h new file mode 100644 index 000000000..95790db93 --- /dev/null +++ b/apps/mavlink/mavlink_hil.h @@ -0,0 +1,57 @@ +/**************************************************************************** + * + * Copyright (C) 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 mavlink_hil.h + * Hardware-in-the-loop simulation support. + */ + +#pragma once + +extern bool mavlink_hil_enabled; + +extern struct vehicle_global_position_s hil_global_pos; +extern struct vehicle_attitude_s hil_attitude; +extern orb_advert_t pub_hil_global_pos; +extern orb_advert_t pub_hil_attitude; + +/** + * Enable / disable Hardware in the Loop simulation mode. + * + * @param hil_enabled The new HIL enable/disable state. + * @return OK if the HIL state changed, ERROR if the + * requested change could not be made or was + * redundant. + */ +extern int set_hil_on_off(bool hil_enabled);
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