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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-27 16:07:38 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-27 16:07:38 +0200 |
commit | ad77ba26427aa9a2d8b8241fc95271667a1c0863 (patch) | |
tree | e524aed7e6f46fe328ed4c2392259bb58d1ac5de /src/modules/uORB/topics | |
parent | 4a949a9565b08bac24130b36bd677d9d08b7cdc8 (diff) | |
parent | 08408594ec3f136bdcf554a2a75c2e0af8e03c8c (diff) | |
download | px4-firmware-ad77ba26427aa9a2d8b8241fc95271667a1c0863.tar.gz px4-firmware-ad77ba26427aa9a2d8b8241fc95271667a1c0863.tar.bz2 px4-firmware-ad77ba26427aa9a2d8b8241fc95271667a1c0863.zip |
Merge pull request #864 from PX4/mpc_rc
mpc_local_pos + rc_timeout
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 37 | ||||
-rw-r--r-- | src/modules/uORB/topics/optical_flow.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 7 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 8 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 28 |
6 files changed, 30 insertions, 54 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index eac6d6e98..a23d89cd2 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 loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index 98f0e3fa2..0196ae86b 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -57,6 +57,7 @@ struct optical_flow_s { uint64_t timestamp; /**< in microseconds since system start */ + uint64_t flow_timestamp; /**< timestamp from flow sensor */ int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 6eb20efd1..c168b2fac 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -65,7 +65,7 @@ enum RC_CHANNELS_FUNCTION { MODE = 4, RETURN = 5, ASSISTED = 6, - MISSION = 7, + LOITER = 7, OFFBOARD_MODE = 8, FLAPS = 9, AUX_1 = 10, @@ -94,6 +94,7 @@ struct rc_channels_s { char function_name[RC_CHANNELS_FUNCTION_MAX][20]; int8_t function[RC_CHANNELS_FUNCTION_MAX]; uint8_t rssi; /**< Overall receive signal strength */ + bool signal_lost; /**< control signal lost, should be checked together with topic timeout */ }; /**< radio control channels. */ /** diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index adcd028f0..4897ca737 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -63,9 +63,6 @@ struct vehicle_global_position_s { uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ - bool global_valid; /**< true if position satisfies validity criteria of estimator */ - bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ @@ -74,8 +71,8 @@ struct vehicle_global_position_s { float vel_e; /**< Ground east velocity, m/s */ float vel_d; /**< Ground downside velocity, m/s */ float yaw; /**< Yaw in radians -PI..+PI. */ - - float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */ + float eph; + float epv; }; /** diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index db9637cd9..a15303ea4 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -1,7 +1,6 @@ /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +34,9 @@ /** * @file vehicle_local_position.h * Definition of the local fused NED position uORB topic. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_ @@ -72,8 +74,8 @@ struct vehicle_local_position_s { bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */ bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */ uint64_t ref_timestamp; /**< Time when reference position was set */ - int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */ - int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */ + double ref_lat; /**< Reference point latitude in degrees */ + double ref_lon; /**< Reference point longitude in degrees */ float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */ bool landed; /**< true if vehicle is landed */ /* Distance to surface */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 256c5134c..435230432 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -95,29 +95,6 @@ typedef enum { FAILSAFE_STATE_MAX } failsafe_state_t; -typedef enum { - MODE_SWITCH_MANUAL = 0, - MODE_SWITCH_ASSISTED, - MODE_SWITCH_AUTO -} mode_switch_pos_t; - -typedef enum { - ASSISTED_SWITCH_SEATBELT = 0, - ASSISTED_SWITCH_EASY -} assisted_switch_pos_t; - -typedef enum { - RETURN_SWITCH_NONE = 0, - RETURN_SWITCH_NORMAL, - RETURN_SWITCH_RETURN -} return_switch_pos_t; - -typedef enum { - MISSION_SWITCH_NONE = 0, - MISSION_SWITCH_LOITER, - MISSION_SWITCH_MISSION -} mission_switch_pos_t; - enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, @@ -189,11 +166,6 @@ struct vehicle_status_s { bool is_rotary_wing; - mode_switch_pos_t mode_switch; - return_switch_pos_t return_switch; - assisted_switch_pos_t assisted_switch; - mission_switch_pos_t mission_switch; - bool condition_battery_voltage_valid; bool condition_system_in_air_restore; /**< true if we can restore in mid air */ bool condition_system_sensors_initialized; |