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Diffstat (limited to 'src/modules/uORB/topics/rc_channels.h')
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 108 |
1 files changed, 108 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h new file mode 100644 index 000000000..9dd54df91 --- /dev/null +++ b/src/modules/uORB/topics/rc_channels.h @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Nils Wenzler <wenzlern@student.ethz.ch> + * @author Ivan Ovinnikov <oivan@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * 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 rc_channels.h + * Definition of the rc_channels uORB topic. + */ + +#ifndef RC_CHANNELS_H_ +#define RC_CHANNELS_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * The number of RC channel inputs supported. + * Current (Q1/2013) radios support up to 18 channels, + * leaving at a sane value of 14. + */ +#define RC_CHANNELS_MAX 14 + +/** + * This defines the mapping of the RC functions. + * The value assigned to the specific function corresponds to the entry of + * the channel array chan[]. + */ +enum RC_CHANNELS_FUNCTION +{ + THROTTLE = 0, + ROLL = 1, + PITCH = 2, + YAW = 3, + OVERRIDE = 4, + AUTO_MODE = 5, + MANUAL_MODE = 6, + SAS_MODE = 7, + RTL = 8, + OFFBOARD_MODE = 9, + FLAPS = 10, + AUX_1 = 11, + AUX_2 = 12, + AUX_3 = 13, + AUX_4 = 14, + AUX_5 = 15, + RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ +}; + +struct rc_channels_s { + + uint64_t timestamp; /**< In microseconds since boot time. */ + uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ + struct { + float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ + } chan[RC_CHANNELS_MAX]; + uint8_t chan_count; /**< number of valid channels */ + + /*String array to store the names of the functions*/ + char function_name[RC_CHANNELS_FUNCTION_MAX][20]; + int8_t function[RC_CHANNELS_FUNCTION_MAX]; + uint8_t rssi; /**< Overall receive signal strength */ +}; /**< radio control channels. */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(rc_channels); + +#endif |