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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-31 22:44:05 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-31 22:44:05 +0100 |
| commit | 7f4f9a5f5f6c4921453f3e0c98531bcb4e44d981 (patch) | |
| tree | 00e5760d1992cafbc99b22b936705b2466041c60 /src/modules/uORB | |
| parent | d933d523eb74ee2290c56afcd11fe8e85c6e702b (diff) | |
| download | px4-firmware-7f4f9a5f5f6c4921453f3e0c98531bcb4e44d981.tar.gz px4-firmware-7f4f9a5f5f6c4921453f3e0c98531bcb4e44d981.tar.bz2 px4-firmware-7f4f9a5f5f6c4921453f3e0c98531bcb4e44d981.zip | |
ACRO mode implemented
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 1 | ||||
| -rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 11 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 8 |
3 files changed, 15 insertions, 5 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index eac6d6e98..190dc01c8 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -60,6 +60,7 @@ 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 acro_switch; /**< acro 2 position switch (optional): normal, acro */ /** * Any of the channels below may not be available and be set to NaN diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 086b2ef15..beb7008ab 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -68,11 +68,12 @@ enum RC_CHANNELS_FUNCTION ASSISTED = 6, MISSION = 7, OFFBOARD_MODE = 8, - FLAPS = 9, - AUX_1 = 10, - AUX_2 = 11, - AUX_3 = 12, - AUX_4 = 13, + ACRO = 9, + FLAPS = 10, + AUX_1 = 11, + AUX_2 = 12, + AUX_3 = 13, + AUX_4 = 14, AUX_5 = 14, RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ }; diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 1b3639e30..5cb0bd8a2 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -63,6 +63,7 @@ /* main state machine */ typedef enum { MAIN_STATE_MANUAL = 0, + MAIN_STATE_ACRO, MAIN_STATE_SEATBELT, MAIN_STATE_EASY, MAIN_STATE_AUTO, @@ -116,6 +117,12 @@ typedef enum { MISSION_SWITCH_MISSION } mission_switch_pos_t; +typedef enum { + ACRO_SWITCH_NONE = 0, + ACRO_SWITCH_NORMAL, + ACRO_SWITCH_ACRO +} acro_switch_pos_t; + enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, @@ -192,6 +199,7 @@ struct vehicle_status_s return_switch_pos_t return_switch; assisted_switch_pos_t assisted_switch; mission_switch_pos_t mission_switch; + acro_switch_pos_t acro_switch; bool condition_battery_voltage_valid; bool condition_system_in_air_restore; /**< true if we can restore in mid air */ |