diff options
Diffstat (limited to 'src/modules/uORB/topics/actuator_controls.h')
| -rw-r--r-- | src/modules/uORB/topics/actuator_controls.h | 38 |
1 files changed, 11 insertions, 27 deletions
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h index 43f7a59ee..3e43107ad 100644 --- a/src/modules/uORB/topics/actuator_controls.h +++ b/src/modules/uORB/topics/actuator_controls.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013-2014 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 @@ -31,48 +31,32 @@ * ****************************************************************************/ -/** - * @file actuator_controls.h - * - * Actuator control topics - mixer inputs. - * - * Values published to these topics 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. - * - * Each topic can be published by a single controller - */ + /* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/actuator_controls.msg */ + -#ifndef TOPIC_ACTUATOR_CONTROLS_H -#define TOPIC_ACTUATOR_CONTROLS_H +#pragma once #include <stdint.h> -#include <platforms/px4_defines.h> +#include "../uORB.h" -#define NUM_ACTUATOR_CONTROLS 8 -#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ +#define NUM_ACTUATOR_CONTROLS 8 +#define NUM_ACTUATOR_CONTROL_GROUPS 4 -/* control sets with pre-defined applications */ -#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) /** * @addtogroup topics * @{ */ + struct actuator_controls_s { uint64_t timestamp; - float control[NUM_ACTUATOR_CONTROLS]; + float control[8]; }; /** * @} */ -/* actuator control sets; this list can be expanded as more controllers emerge */ -ORB_DECLARE(actuator_controls_0); -ORB_DECLARE(actuator_controls_1); -ORB_DECLARE(actuator_controls_2); -ORB_DECLARE(actuator_controls_3); - -#endif +/* register this as object request broker structure */ +ORB_DECLARE(actuator_controls); |