diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-09 14:09:09 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-09 14:09:09 +0200 |
commit | 1deced7629e7d140a931c42657f75da512696c7e (patch) | |
tree | 08f8e321f23420437802751c3b9cbb8c3875f2e8 /src/modules/uORB/topics | |
parent | b12678014ff9b500912ec44f6f9c771af3bdd217 (diff) | |
download | px4-firmware-1deced7629e7d140a931c42657f75da512696c7e.tar.gz px4-firmware-1deced7629e7d140a931c42657f75da512696c7e.tar.bz2 px4-firmware-1deced7629e7d140a931c42657f75da512696c7e.zip |
Added safety status feedback, disallow arming of a rotary wing with engaged safety
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/actuator_controls.h | 7 | ||||
-rw-r--r-- | src/modules/uORB/topics/safety.h | 60 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 2 |
3 files changed, 66 insertions, 3 deletions
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h index b7c4196c0..745c5bc87 100644 --- a/src/modules/uORB/topics/actuator_controls.h +++ b/src/modules/uORB/topics/actuator_controls.h @@ -68,9 +68,10 @@ ORB_DECLARE(actuator_controls_3); /** 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) */ + bool armed; /**< Set to true if system is armed */ + bool ready_to_arm; /**< Set to true if system is ready to be armed */ + bool throttle_locked; /**< Set to true if the trottle is locked to zero */ + bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ }; ORB_DECLARE(actuator_armed); 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 */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index c7c1048f6..07660614b 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -214,6 +214,8 @@ struct vehicle_status_s bool flag_valid_launch_position; /**< indicates a valid launch position */ bool flag_valid_home_position; /**< indicates a valid home position (a valid home position is not always a valid launch) */ bool flag_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ + bool flag_safety_present; /**< indicates that a safety switch is present */ + bool flag_safety_safe; /**< safety switch is in safe position */ }; /** |