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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-22 16:52:35 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-22 16:52:35 +0100 |
| commit | 1dc9785083e1ed7a7db27466fbe9f61f6bb277f7 (patch) | |
| tree | cca11d4a776893125c436c8b68bcd93705901ef3 /src/modules/uORB/topics | |
| parent | 93e096f63b57bde43679d86b33eb6ffdee8fc5e4 (diff) | |
| download | px4-firmware-1dc9785083e1ed7a7db27466fbe9f61f6bb277f7.tar.gz px4-firmware-1dc9785083e1ed7a7db27466fbe9f61f6bb277f7.tar.bz2 px4-firmware-1dc9785083e1ed7a7db27466fbe9f61f6bb277f7.zip | |
OFFBOARD switch added, WIP
Diffstat (limited to 'src/modules/uORB/topics')
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 4 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 8 |
2 files changed, 9 insertions, 3 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index eac6d6e98..ab0c7a411 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -60,15 +60,13 @@ struct manual_control_setpoint_s { 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 */ + float offboard_switch; /**< offboard switch (optional): offboard, onboard */ /** * Any of the channels below 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 aux1; /**< default function: camera yaw / azimuth */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 1a9dec5f5..d74b696bb 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -64,6 +64,7 @@ typedef enum { MAIN_STATE_SEATBELT, MAIN_STATE_EASY, MAIN_STATE_AUTO, + MAIN_STATE_OFFBOARD, } main_state_t; typedef enum { @@ -109,6 +110,12 @@ typedef enum { MISSION_SWITCH_MISSION } mission_switch_pos_t; +typedef enum { + OFFBOARD_SWITCH_NONE = 0, + OFFBOARD_SWITCH_OFFBOARD, + OFFBOARD_SWITCH_ONBOARD +} offboard_switch_pos_t; + enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, @@ -184,6 +191,7 @@ struct vehicle_status_s return_switch_pos_t return_switch; assisted_switch_pos_t assisted_switch; mission_switch_pos_t mission_switch; + offboard_switch_pos_t offboard_switch; bool condition_battery_voltage_valid; bool condition_system_in_air_restore; /**< true if we can restore in mid air */ |