Added actuator controls effective topic

2 files changed, 77 insertions, 0 deletions

diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index c2e82aad9..dbee15050 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -113,6 +113,7 @@ ORB_DEFINE(optical_flow, struct optical_flow_s);
 #include "topics/subsystem_info.h"
 ORB_DEFINE(subsystem_info, struct subsystem_info_s);
 
+/* actuator controls, as requested by controller */
 #include "topics/actuator_controls.h"
 ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
@@ -120,6 +121,13 @@ ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
 ORB_DEFINE(actuator_armed, struct actuator_armed_s);
 
+/* actuator controls, as set by actuators / mixers after limiting */
+#include "topics/actuator_controls_effective.h"
+ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
+
 #include "topics/actuator_outputs.h"
 ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
diff --git a/apps/uORB/topics/actuator_controls_effective.h b/apps/uORB/topics/actuator_controls_effective.h
new file mode 100644
index 000000000..3c72e4cb7
--- /dev/null
+++ b/apps/uORB/topics/actuator_controls_effective.h
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 actuator_controls.h
+ *
+ * Actuator control topics - mixer inputs.
+ *
+ * Values published to these topics are the outputs of the vehicle control
+ * system, and are expected to be mixed and used to drive the actuators
+ * (servos, speed controls, etc.) that operate the vehicle.
+ *
+ * Each topic can be published by a single controller
+ */
+
+#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
+#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_ACTUATOR_CONTROLS		8
+#define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */
+
+struct actuator_controls_effective_s {
+	uint64_t timestamp;
+	float	control_effective[NUM_ACTUATOR_CONTROLS];
+};
+
+/* actuator control sets; this list can be expanded as more controllers emerge */
+ORB_DECLARE(actuator_controls_effective_0);
+ORB_DECLARE(actuator_controls_effective_1);
+ORB_DECLARE(actuator_controls_effective_2);
+ORB_DECLARE(actuator_controls_effective_3);
+
+/* control sets with pre-defined applications */
+#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)
+
+#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
\ No newline at end of file