Ported almost everything to new param interface, ready for serious testing

3 files changed, 96 insertions, 6 deletions

diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index d6c00f996..c60a93fcb 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -108,6 +108,9 @@ ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
 #include "topics/optical_flow.h"
 ORB_DEFINE(optical_flow, struct optical_flow_s);
 
+#include "topics/subsystem_info.h"
+ORB_DEFINE(subsystem_info, struct subsystem_info_s);
+
 #include "topics/actuator_controls.h"
 ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
diff --git a/apps/uORB/topics/rc_channels.h b/apps/uORB/topics/rc_channels.h
index 5bd2adeec..28cc5d7c4 100644
--- a/apps/uORB/topics/rc_channels.h
+++ b/apps/uORB/topics/rc_channels.h
@@ -62,11 +62,6 @@ enum RC_CHANNELS_STATUS
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
  * the channel array chan[].
- * Ex. To read out the scaled Pitch value:
- * pitch = global_data_rc_channels->chan[PITCH].scale;
- * The override is on channel 8, since we don't usually have a 12 channel RC
- * and channel 5/6 (GRAUPNER/FUTABA) are mapped to the second ROLL servo, which
- * can only be disabled on more advanced RC sets.
  */
 enum RC_CHANNELS_FUNCTION
 {
@@ -98,7 +93,7 @@ struct rc_channels_s {
     uint16_t override;
     enum RC_CHANNELS_STATUS status;   /**< status of the channel */
   } chan[RC_CHANNELS_FUNCTION_MAX];
-  uint8_t chan_count;                    /**< maximum number of valid channels */
+  uint8_t chan_count;                 /**< maximum number of valid channels */
 
   /*String array to store the names of the functions*/
   const char function_name[RC_CHANNELS_FUNCTION_MAX][20];
diff --git a/apps/uORB/topics/subsystem_info.h b/apps/uORB/topics/subsystem_info.h
new file mode 100644
index 000000000..89b397478
--- /dev/null
+++ b/apps/uORB/topics/subsystem_info.h
@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.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 subsystem_info.h
+ * Definition of the subsystem info topic.
+ */
+
+#ifndef TOPIC_SUBSYSTEM_INFO_H_
+#define TOPIC_SUBSYSTEM_INFO_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+enum SUBSYSTEM_TYPE
+{
+	SUBSYSTEM_TYPE_GYRO = 1,
+	SUBSYSTEM_TYPE_ACC = 2,
+	SUBSYSTEM_TYPE_MAG = 4,
+	SUBSYSTEM_TYPE_ABSPRESSURE = 8,
+	SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
+	SUBSYSTEM_TYPE_GPS = 32,
+	SUBSYSTEM_TYPE_OPTICALFLOW = 64,
+	SUBSYSTEM_TYPE_CVPOSITION = 128,
+	SUBSYSTEM_TYPE_LASERPOSITION = 256,
+	SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
+	SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
+	SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
+	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
+	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
+	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
+	SUBSYSTEM_TYPE_MOTORCONTROL = 65536
+};
+
+/**
+ * State of individual sub systems
+ */
+struct subsystem_info_s {
+	bool present;
+	bool enabled;
+	bool ok;
+
+	enum SUBSYSTEM_TYPE subsystem_type;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(subsystem_info);
+
+#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
+