diff options
Diffstat (limited to 'src/modules/uORB/topics/manual_control_setpoint.h')
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 98 |
1 files changed, 33 insertions, 65 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 13138ebc9..440841f90 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -1,21 +1,20 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * 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 * are met: * * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. + * 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. + * 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. + * 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 @@ -32,73 +31,44 @@ * ****************************************************************************/ -/** - * @file manual_control_setpoint.h - * Definition of the manual_control_setpoint uORB topic. - */ + /* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/manual_control_setpoint.msg */ + -#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_ -#define TOPIC_MANUAL_CONTROL_SETPOINT_H_ +#pragma once #include <stdint.h> -#include <platforms/px4_defines.h> +#include "../uORB.h" + +#define SWITCH_POS_NONE 0 +#define SWITCH_POS_ON 1 +#define SWITCH_POS_MIDDLE 2 +#define SWITCH_POS_OFF 3 -/** - * Switch position - */ -typedef enum { - SWITCH_POS_NONE = 0, /**< switch is not mapped */ - SWITCH_POS_ON, /**< switch activated (value = 1) */ - SWITCH_POS_MIDDLE, /**< middle position (value = 0) */ - SWITCH_POS_OFF /**< switch not activated (value = -1) */ -} switch_pos_t; /** * @addtogroup topics * @{ */ + struct manual_control_setpoint_s { uint64_t timestamp; - - /** - * Any of the channels may not be available and be set to NaN - * to indicate that it does not contain valid data. - * The variable names follow the definition of the - * MANUAL_CONTROL mavlink message. - * The default range is from -1 to 1 (mavlink message -1000 to 1000) - * The range for the z variable is defined from 0 to 1. (The z field of - * the MANUAL_CONTROL mavlink message is defined from -1000 to 1000) - */ - float x; /**< stick position in x direction -1..1 - in general corresponds to forward/back motion or pitch of vehicle, - in general a positive value means forward or negative pitch and - a negative value means backward or positive pitch */ - float y; /**< stick position in y direction -1..1 - in general corresponds to right/left motion or roll of vehicle, - in general a positive value means right or positive roll and - a negative value means left or negative roll */ - float z; /**< throttle stick position 0..1 - in general corresponds to up/down motion or thrust of vehicle, - in general the value corresponds to the demanded throttle by the user, - if the input is used for setting the setpoint of a vertical position - controller any value > 0.5 means up and any value < 0.5 means down */ - float r; /**< yaw stick/twist positon, -1..1 - in general corresponds to the righthand rotation around the vertical - (downwards) axis of the vehicle */ - float flaps; /**< flap position */ - float aux1; /**< default function: camera yaw / azimuth */ - float aux2; /**< default function: camera pitch / tilt */ - float aux3; /**< default function: camera trigger */ - float aux4; /**< default function: camera roll */ - float aux5; /**< default function: payload drop */ - - switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ - switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ - switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ - switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ - switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ - switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ + float x; + float y; + float z; + float r; + float flaps; + float aux1; + float aux2; + float aux3; + float aux4; + float aux5; + uint8_t mode_switch; + uint8_t return_switch; + uint8_t posctl_switch; + uint8_t loiter_switch; + uint8_t acro_switch; + uint8_t offboard_switch; }; /** @@ -107,5 +77,3 @@ struct manual_control_setpoint_s { /* register this as object request broker structure */ ORB_DECLARE(manual_control_setpoint); - -#endif |