diff options
Diffstat (limited to 'src/modules/uORB/topics/actuator_controls.h')
-rw-r--r-- | src/modules/uORB/topics/actuator_controls.h | 82 |
1 files changed, 0 insertions, 82 deletions
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h deleted file mode 100644 index 668f8f164..000000000 --- a/src/modules/uORB/topics/actuator_controls.h +++ /dev/null @@ -1,82 +0,0 @@ -/**************************************************************************** - * - * 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_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 - */ - -#ifndef TOPIC_ACTUATOR_CONTROLS_H -#define TOPIC_ACTUATOR_CONTROLS_H - -#include <stdint.h> -#include "../uORB.h" - -#define NUM_ACTUATOR_CONTROLS 8 -#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ - -/* 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; - uint64_t timestamp_sample; /**< the timestamp the data this control response is based on was sampled */ - float control[NUM_ACTUATOR_CONTROLS]; -}; - -/** - * @} - */ - -/* 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); -ORB_DECLARE(actuator_controls_virtual_mc); -ORB_DECLARE(actuator_controls_virtual_fw); - - -#endif |