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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-18 18:28:49 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-18 18:28:49 +0200 |
commit | b0b72b11eb6c112d3fb58385f5681af55dd5605a (patch) | |
tree | b5c9548cc4619919fab7015df2a390de70578ac3 /apps/uORB/topics | |
parent | 3816327977166cbb68ba94aae4b316651cd70ba3 (diff) | |
parent | df034330340aa1f938adbc1ed8840689ead41d89 (diff) | |
download | px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.tar.gz px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.tar.bz2 px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.zip |
Reworking control infrastructure for inner rate loop, preparing offboard interface
Diffstat (limited to 'apps/uORB/topics')
-rw-r--r-- | apps/uORB/topics/ardrone_motors_setpoint.h | 12 | ||||
-rw-r--r-- | apps/uORB/topics/vehicle_status.h | 19 |
2 files changed, 16 insertions, 15 deletions
diff --git a/apps/uORB/topics/ardrone_motors_setpoint.h b/apps/uORB/topics/ardrone_motors_setpoint.h index 54d81b706..d0cb0ad73 100644 --- a/apps/uORB/topics/ardrone_motors_setpoint.h +++ b/apps/uORB/topics/ardrone_motors_setpoint.h @@ -50,14 +50,14 @@ struct ardrone_motors_setpoint_s { - uint16_t counter; //incremented by the writing thread everytime new data is stored uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data - uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration - uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration - uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration - uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration - + uint8_t group; /**< quadrotor group */ + uint8_t mode; /**< requested flight mode XXX define */ + float p1; /**< parameter 1: rate control: roll rate, att control: roll angle (in radians, NED) */ + float p2; /**< parameter 2: rate control: pitch rate, att control: pitch angle (in radians, NED) */ + float p3; /**< parameter 3: rate control: yaw rate, att control: yaw angle (in radians, NED) */ + float p4; /**< parameter 4: thrust, [0..1] */ }; /**< AR.Drone low level motors */ /** diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h index 713a7a801..cfde2ab53 100644 --- a/apps/uORB/topics/vehicle_status.h +++ b/apps/uORB/topics/vehicle_status.h @@ -111,23 +111,24 @@ struct vehicle_status_s uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - commander_state_machine_t state_machine; /**< Current flight state, main state machine */ - enum VEHICLE_FLIGHT_MODE flight_mode; /**< Current flight mode, as defined by mode switch */ - enum VEHICLE_ATTITUDE_MODE attitute_mode; /**< Current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */ + commander_state_machine_t state_machine; /**< current flight state, main state machine */ + enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */ + enum VEHICLE_ATTITUDE_MODE attitute_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */ // uint8_t mode; /* system flags - these represent the state predicates */ - bool flag_system_armed; /**< True is motors / actuators are armed */ + bool flag_system_armed; /**< true is motors / actuators are armed */ bool flag_control_manual_enabled; /**< true if manual input is mixed in */ - bool flag_hil_enabled; /**< True if hardware in the loop simulation is enabled */ + bool flag_control_offboard_enabled; /**< true if offboard control input is on */ + bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */ - // bool flag_control_rates_enabled; /**< true if rates are stabilized */ - // bool flag_control_attitude_enabled; *< true if attitude stabilization is mixed in - // bool control_speed_enabled; /**< true if speed (implies direction) is controlled */ - // bool control_position_enabled; /**< true if position is controlled */ + bool flag_control_rates_enabled; /**< true if rates are stabilized */ + bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ + bool flag_control_speed_enabled; /**< true if speed (implies direction) is controlled */ + bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */ bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */ |