Reworking control infrastructure for inner rate loop, preparing offboard interface

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 */