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| author | Julian Oes <julian@oes.ch> | 2013-06-14 13:53:26 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-14 13:53:26 +0200 |
| commit | 90f5e30f2a177bed2ac08e76699ec3029292d640 (patch) | |
| tree | 25752b2843f573e3affe42b7e20b8fc06c457290 /src/modules/uORB/topics/actuator_controls.h | |
| parent | 236053a600f5708aee0e5849f4fefc2380e7d101 (diff) | |
| download | px4-firmware-90f5e30f2a177bed2ac08e76699ec3029292d640.tar.gz px4-firmware-90f5e30f2a177bed2ac08e76699ec3029292d640.tar.bz2 px4-firmware-90f5e30f2a177bed2ac08e76699ec3029292d640.zip | |
Introduced new actuator_safety topic
Diffstat (limited to 'src/modules/uORB/topics/actuator_controls.h')
| -rw-r--r-- | src/modules/uORB/topics/actuator_controls.h | 15 |
1 files changed, 3 insertions, 12 deletions
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h index b7c4196c0..26b967237 100644 --- a/src/modules/uORB/topics/actuator_controls.h +++ b/src/modules/uORB/topics/actuator_controls.h @@ -52,6 +52,9 @@ #define NUM_ACTUATOR_CONTROLS 8 #define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ +/* control sets with pre-defined applications */ +#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) + struct actuator_controls_s { uint64_t timestamp; float control[NUM_ACTUATOR_CONTROLS]; @@ -63,16 +66,4 @@ 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 ready_to_arm; /**< Set to true if system is ready to be 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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