Added manual control abstraction layer, reworked sensors and ardrone_control apps to use it instead of direct RC channels

3 files changed, 105 insertions, 1 deletions

diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index 98e6c2987..2b12939a3 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -100,7 +100,10 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi
 ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
 
 #include "topics/vehicle_attitude_setpoint.h"
-ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_s);
+ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
+
+#include "topics/manual_control_setpoint.h"
+ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
 
 #include "topics/actuator_controls.h"
 ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
diff --git a/apps/uORB/topics/manual_control_setpoint.h b/apps/uORB/topics/manual_control_setpoint.h
new file mode 100644
index 000000000..b01c7438d
--- /dev/null
+++ b/apps/uORB/topics/manual_control_setpoint.h
@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 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 manual_control_setpoint.h
+ * Definition of the manual_control_setpoint uORB topic.
+ */
+
+#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
+#define TOPIC_MANUAL_CONTROL_SETPOINT_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Defines how RC channels map to control inputs.
+ *
+ * The default mode on quadrotors and fixed wing is
+ * roll and pitch position of the right stick and
+ * throttle and yaw rate on the left stick
+ */
+enum MANUAL_CONTROL_MODE
+{
+  DIRECT = 0,
+  ROLLPOS_PITCHPOS_YAWRATE_THROTTLE = 1,
+	ROLLRATE_PITCHRATE_YAWRATE_THROTTLE = 2,
+  ROLLPOS_PITCHPOS_YAWPOS_THROTTLE = 3
+};
+
+struct manual_control_setpoint_s {
+
+  enum MANUAL_CONTROL_MODE mode;     /**< The current control inputs mode */
+  float roll;                   /**< roll / roll rate input */
+  float pitch;
+  float yaw;
+  float throttle;
+
+  float override_mode_switch;
+
+  float ailerons;
+  float elevator;
+  float rudder;
+  float flaps;
+
+  float aux1_cam_pan;
+  float aux2_cam_tilt;
+  float aux3_cam_zoom;
+  float aux4_cam_roll;
+
+}; /**< manual control inputs */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(manual_control_setpoint);
+
+#endif
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h
index 6b3757402..6a1908007 100644
--- a/apps/uORB/topics/vehicle_attitude_setpoint.h
+++ b/apps/uORB/topics/vehicle_attitude_setpoint.h
@@ -61,8 +61,14 @@ struct vehicle_attitude_setpoint_s
 	float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
 	float tait_bryan_valid;			/**< Set to true if Tait-Bryan angles are valid */
 
+	float roll_body;				/**< body angle in NED frame		*/
+	float pitch_body;				/**< body angle in NED frame		*/
+	float yaw_body;					/**< body angle in NED frame		*/
+	float body_valid;				/**< Set to true if Tait-Bryan angles are valid */
+
 	float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
 	bool R_valid;					/**< Set to true if rotation matrix is valid */
+
 	float thrust;					/**< Thrust in Newton the power system should generate */
 
 };