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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
commit | 13fc6703862862f4263d8d5d085b7a16b87190e1 (patch) | |
tree | 47f3a17cb6f38b1aafe22e1cdef085cd73cd3a1d /src/modules/uORB/topics/actuator_controls.h | |
parent | f57439b90e23de260259dec051d3e2ead2d61c8c (diff) | |
download | px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.gz px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.bz2 px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.zip |
Moved last libs, drivers and headers, cleaned up IO build
Diffstat (limited to 'src/modules/uORB/topics/actuator_controls.h')
-rw-r--r-- | src/modules/uORB/topics/actuator_controls.h | 77 |
1 files changed, 77 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h new file mode 100644 index 000000000..0b50a29ac --- /dev/null +++ b/src/modules/uORB/topics/actuator_controls.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * 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_H +#define TOPIC_ACTUATOR_CONTROLS_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_ACTUATOR_CONTROLS 8 +#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ + +struct actuator_controls_s { + uint64_t timestamp; + float control[NUM_ACTUATOR_CONTROLS]; +}; + +/* actuator control sets; this list can be expanded as more controllers emerge */ +ORB_DECLARE(actuator_controls_0); +ORB_DECLARE(actuator_controls_1); +ORB_DECLARE(actuator_controls_2); +ORB_DECLARE(actuator_controls_3); + +/* control sets with pre-defined applications */ +#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) + +/** global 'actuator output is live' control. */ +struct actuator_armed_s { + bool armed; /**< Set to true if system is armed */ + bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ +}; + +ORB_DECLARE(actuator_armed); + +#endif
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