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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-27 18:27:08 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-27 18:27:08 +0100 |
commit | f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32 (patch) | |
tree | 9da695a79082b70360260c669f27ff8fa4470b35 /apps/uORB/topics/manual_control_setpoint.h | |
parent | 61d7e1d28552ddd7652b1d1b888c51a2eae78967 (diff) | |
download | px4-firmware-f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32.tar.gz px4-firmware-f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32.tar.bz2 px4-firmware-f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32.zip |
Cleaned up control mode state machine / flight mode / navigation state machine still needs a bit cleaning up
Diffstat (limited to 'apps/uORB/topics/manual_control_setpoint.h')
-rw-r--r-- | apps/uORB/topics/manual_control_setpoint.h | 40 |
1 files changed, 22 insertions, 18 deletions
diff --git a/apps/uORB/topics/manual_control_setpoint.h b/apps/uORB/topics/manual_control_setpoint.h index 1368cb716..261a8a4ad 100644 --- a/apps/uORB/topics/manual_control_setpoint.h +++ b/apps/uORB/topics/manual_control_setpoint.h @@ -48,29 +48,33 @@ * @{ */ -enum MANUAL_CONTROL_MODE -{ - MANUAL_CONTROL_MODE_DIRECT = 0, - MANUAL_CONTROL_MODE_ATT_YAW_RATE = 1, - MANUAL_CONTROL_MODE_ATT_YAW_POS = 2, - MANUAL_CONTROL_MODE_MULTIROTOR_SIMPLE = 3 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ -}; - struct manual_control_setpoint_s { uint64_t timestamp; - enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */ - float roll; /**< ailerons roll / roll rate input */ - float pitch; /**< elevator / pitch / pitch rate */ - float yaw; /**< rudder / yaw rate / yaw */ - float throttle; /**< throttle / collective thrust / altitude */ + float roll; /**< ailerons roll / roll rate input */ + float pitch; /**< elevator / pitch / pitch rate */ + float yaw; /**< rudder / yaw rate / yaw */ + float throttle; /**< throttle / collective thrust / altitude */ + + float manual_override_switch; /**< manual override mode (mandatory) */ + float auto_mode_switch; /**< auto mode switch (mandatory) */ + + /** + * Any of the channels below may not be available and be set to NaN + * to indicate that it does not contain valid data. + */ + float manual_mode_switch; /**< manual mode (man, sas, alt) switch (optional) */ + float manual_sas_switch; /**< sas mode (rates / attitude) switch (optional) */ + float return_to_launch_switch; /**< return to launch switch (0 = disabled, 1 = enabled) */ + float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */ - float override_mode_switch; + float flaps; /**< flap position */ - float aux1_cam_pan_flaps; - float aux2_cam_tilt; - float aux3_cam_zoom; - float aux4_cam_roll; + float aux1; /**< default function: camera yaw / azimuth */ + float aux2; /**< default function: camera pitch / tilt */ + float aux3; /**< default function: camera trigger */ + float aux4; /**< default function: camera roll */ + float aux5; /**< default function: payload drop */ }; /**< manual control inputs */ |