Added safety status feedback, disallow arming of a rotary wing with engaged safety

1 files changed, 60 insertions, 0 deletions

diff --git a/src/modules/uORB/topics/safety.h b/src/modules/uORB/topics/safety.h
new file mode 100644
index 000000000..19e8e8d45
--- /dev/null
+++ b/src/modules/uORB/topics/safety.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 safety.h
+ *
+ * Status of an attached safety device
+ */
+
+#ifndef TOPIC_SAFETY_H
+#define TOPIC_SAFETY_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+enum SAFETY_STATUS {
+	SAFETY_STATUS_NOT_PRESENT,
+	SAFETY_STATUS_SAFE,
+	SAFETY_STATUS_UNLOCKED
+};
+
+struct safety_s {
+	uint64_t timestamp;			/**< output timestamp in us since system boot */
+	enum SAFETY_STATUS status;
+};
+
+/* actuator output sets; this list can be expanded as more drivers emerge */
+ORB_DECLARE(safety);
+
+#endif /* TOPIC_SAFETY_H */