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author | dominiho <dominik.honegger@inf.ethz.ch> | 2014-10-30 15:34:31 +0100 |
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committer | dominiho <dominik.honegger@inf.ethz.ch> | 2014-10-30 15:34:31 +0100 |
commit | aba77d062f414f4a1760bc9b4f267f099206b8df (patch) | |
tree | 88fed484e6ffe047b2a521cb231f393497c88373 /src/modules/uORB | |
parent | 93239e5018ea7fc280c060826c52a794fb438a34 (diff) | |
parent | 54a5f7a138863e05935765b74369e42f69bb9495 (diff) | |
download | px4-firmware-aba77d062f414f4a1760bc9b4f267f099206b8df.tar.gz px4-firmware-aba77d062f414f4a1760bc9b4f267f099206b8df.tar.bz2 px4-firmware-aba77d062f414f4a1760bc9b4f267f099206b8df.zip |
Merge branch 'master' of https://github.com/PX4/Firmware into px4flow_integral_i2c
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/test_motor.h | 70 |
2 files changed, 73 insertions, 0 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index b921865eb..b91a00c1e 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -201,6 +201,9 @@ ORB_DEFINE(telemetry_status_1, struct telemetry_status_s); ORB_DEFINE(telemetry_status_2, struct telemetry_status_s); ORB_DEFINE(telemetry_status_3, struct telemetry_status_s); +#include "topics/test_motor.h" +ORB_DEFINE(test_motor, struct test_motor_s); + #include "topics/debug_key_value.h" ORB_DEFINE(debug_key_value, struct debug_key_value_s); diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h new file mode 100644 index 000000000..491096934 --- /dev/null +++ b/src/modules/uORB/topics/test_motor.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2014 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 test_motor.h + * + * Test a single drive motor while the vehicle is disarmed + * + * Publishing values to this topic causes a single motor to spin, e.g. for + * ground test purposes. This topic will be ignored while the vehicle is armed. + * + */ + +#ifndef TOPIC_TEST_MOTOR_H +#define TOPIC_TEST_MOTOR_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_MOTOR_OUTPUTS 8 + +/** + * @addtogroup topics + * @{ + */ + +struct test_motor_s { + uint64_t timestamp; /**< output timestamp in us since system boot */ + unsigned motor_number; /**< number of motor to spin */ + float value; /**< output data, in natural output units */ +}; + +/** + * @} + */ + +/* actuator output sets; this list can be expanded as more drivers emerge */ +ORB_DECLARE(test_motor); + +#endif |