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Diffstat (limited to 'apps/uORB/topics/actuator_controls.h')
-rw-r--r-- | apps/uORB/topics/actuator_controls.h | 64 |
1 files changed, 64 insertions, 0 deletions
diff --git a/apps/uORB/topics/actuator_controls.h b/apps/uORB/topics/actuator_controls.h new file mode 100644 index 000000000..03c0c7b7d --- /dev/null +++ b/apps/uORB/topics/actuator_controls.h @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * 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 control topic - mixer inputs. + * + * Values published to this topic are the outputs of the vehicle control + * system, and are expected to be mixed and used to drive the actuators + * (servos, speed controls, etc.) that operate the vehicle. + */ + +#ifndef TOPIC_ACTUATOR_CONTROLS_H +#define TOPIC_ACTUATOR_CONTROLS_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_ACTUATOR_CONTROLS 16 + +struct actuator_controls +{ + float control[NUM_ACTUATOR_CONTROLS]; +}; + +ORB_DECLARE(actuator_controls); + +struct actuator_armed +{ + bool armed; +}; + +ORB_DECLARE(actuator_armed); + +#endif
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