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author | Holger Steinhaus <holger@steinhaus-home.de> | 2014-08-26 20:26:47 +0200 |
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committer | Holger Steinhaus <holger@steinhaus-home.de> | 2014-08-26 20:26:47 +0200 |
commit | ccdfab245bac02565521f2d76e604f54ba3f5bd5 (patch) | |
tree | efc76a2d35b8e733fccedc2e4075a33cc00fb743 /src | |
parent | f2683c23e966ff93d8f438beb63bdf6ef676139d (diff) | |
download | px4-firmware-ccdfab245bac02565521f2d76e604f54ba3f5bd5.tar.gz px4-firmware-ccdfab245bac02565521f2d76e604f54ba3f5bd5.tar.bz2 px4-firmware-ccdfab245bac02565521f2d76e604f54ba3f5bd5.zip |
mixer_multirotor: topic for motor limit notification
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/multirotor_motor_limits.h | 69 |
2 files changed, 72 insertions, 0 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index f7d5f8737..b921865eb 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -192,6 +192,9 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s); +#include "topics/multirotor_motor_limits.h" +ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s); + #include "topics/telemetry_status.h" ORB_DEFINE(telemetry_status_0, struct telemetry_status_s); ORB_DEFINE(telemetry_status_1, struct telemetry_status_s); diff --git a/src/modules/uORB/topics/multirotor_motor_limits.h b/src/modules/uORB/topics/multirotor_motor_limits.h new file mode 100644 index 000000000..44c51e4d9 --- /dev/null +++ b/src/modules/uORB/topics/multirotor_motor_limits.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 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 multirotor_motor_limits.h + * + * Definition of multirotor_motor_limits topic + */ + +#ifndef MULTIROTOR_MOTOR_LIMITS_H_ +#define MULTIROTOR_MOTOR_LIMITS_H_ + +#include "../uORB.h" +#include <stdint.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * Motor limits + */ +struct multirotor_motor_limits_s { + uint8_t roll_pitch : 1; // roll/pitch limit reached + uint8_t yaw : 1; // yaw limit reached + uint8_t throttle_lower : 1; // lower throttle limit reached + uint8_t throttle_upper : 1; // upper throttle limit reached + uint8_t reserved : 4; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(multirotor_motor_limits); + +#endif |