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author | TickTock- <lukecell@safe-mail.net> | 2014-04-22 17:43:36 -0700 |
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committer | TickTock- <lukecell@safe-mail.net> | 2014-04-22 17:43:36 -0700 |
commit | d6e6ee34401d79d428c025458940bbbf42f62236 (patch) | |
tree | e0cb854b65e8a026d8c8572a1e382fe6b1c7765c /src/modules/uORB/topics/manual_control_setpoint.h | |
parent | 86a0862af6412906611ed295cae4604e7111b1e9 (diff) | |
parent | 0b97dd2b776ce61fd53776f036230ea0089e26e9 (diff) | |
download | px4-firmware-d6e6ee34401d79d428c025458940bbbf42f62236.tar.gz px4-firmware-d6e6ee34401d79d428c025458940bbbf42f62236.tar.bz2 px4-firmware-d6e6ee34401d79d428c025458940bbbf42f62236.zip |
Merge branch 'rc_timeout' of https://github.com/TickTock-/Firmware into rc_merged
Diffstat (limited to 'src/modules/uORB/topics/manual_control_setpoint.h')
-rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 37 |
1 files changed, 20 insertions, 17 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index eac6d6e98..2b3a337b2 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -44,6 +44,16 @@ #include "../uORB.h" /** + * Switch position + */ +typedef enum { + SWITCH_POS_NONE = 0, /**< switch is not mapped */ + SWITCH_POS_ON, /**< switch activated (value = 1) */ + SWITCH_POS_MIDDLE, /**< middle position (value = 0) */ + SWITCH_POS_OFF /**< switch not activated (value = -1) */ +} switch_pos_t; + +/** * @addtogroup topics * @{ */ @@ -51,32 +61,25 @@ struct manual_control_setpoint_s { uint64_t timestamp; - float roll; /**< ailerons roll / roll rate input */ - float pitch; /**< elevator / pitch / pitch rate */ - float yaw; /**< rudder / yaw rate / yaw */ - float throttle; /**< throttle / collective thrust / altitude */ - - float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ - float return_switch; /**< land 2 position switch (mandatory): land, no effect */ - float assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ - float mission_switch; /**< mission 2 position switch (optional): mission, loiter */ - /** - * Any of the channels below may not be available and be set to NaN + * Any of the channels may not be available and be set to NaN * to indicate that it does not contain valid data. */ - - // XXX needed or parameter? - //float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */ - - float flaps; /**< flap position */ - + float roll; /**< ailerons roll / roll rate input, -1..1 */ + float pitch; /**< elevator / pitch / pitch rate, -1..1 */ + float yaw; /**< rudder / yaw rate / yaw, -1..1 */ + float throttle; /**< throttle / collective thrust / altitude, 0..1 */ + float flaps; /**< flap position */ float aux1; /**< default function: camera yaw / azimuth */ float aux2; /**< default function: camera pitch / tilt */ float aux3; /**< default function: camera trigger */ float aux4; /**< default function: camera roll */ float aux5; /**< default function: payload drop */ + switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ + switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */ + switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ + switch_pos_t mission_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ /** |