diff options
author | Andrew Tridgell <tridge@samba.org> | 2014-11-20 09:35:58 +1100 |
---|---|---|
committer | Andrew Tridgell <tridge@samba.org> | 2014-11-26 08:32:46 +1100 |
commit | f6b0a3e07f27f34af6e6d209aec761374611e968 (patch) | |
tree | c9ee0f261a6c812c4b7522b15d6b53e3b119331c /src/modules/uORB/topics | |
parent | 2dae1bc542746ed373458b55a8e564607700d17d (diff) | |
download | px4-firmware-f6b0a3e07f27f34af6e6d209aec761374611e968.tar.gz px4-firmware-f6b0a3e07f27f34af6e6d209aec761374611e968.tar.bz2 px4-firmware-f6b0a3e07f27f34af6e6d209aec761374611e968.zip |
uORB: added actuator_direct topic
this topic will be used to allow direct output of actuator values for
uavcan, bypassing the mixer.
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/actuator_direct.h | 69 |
1 files changed, 69 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/actuator_direct.h b/src/modules/uORB/topics/actuator_direct.h new file mode 100644 index 000000000..5f9d0f56d --- /dev/null +++ b/src/modules/uORB/topics/actuator_direct.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 actuator_direct.h + * + * Actuator direct values. + * + * Values published to this topic are the direct actuator values which + * should be passed to actuators, bypassing mixing + */ + +#ifndef TOPIC_ACTUATOR_DIRECT_H +#define TOPIC_ACTUATOR_DIRECT_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_ACTUATORS_DIRECT 16 + +/** + * @addtogroup topics + * @{ + */ + +struct actuator_direct_s { + uint64_t timestamp; /**< timestamp in us since system boot */ + float values[NUM_ACTUATORS_DIRECT]; /**< actuator values, from -1 to 1 */ + unsigned nvalues; /**< number of valid values */ +}; + +/** + * @} + */ + +/* actuator direct ORB */ +ORB_DECLARE(actuator_direct); + +#endif // TOPIC_ACTUATOR_DIRECT_H |