diff options
Diffstat (limited to 'src/modules/uORB/topics')
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 44 | ||||
| -rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 19 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_gps_position.h | 5 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 5 |
5 files changed, 50 insertions, 25 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index a23d89cd2..910b8a623 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -64,22 +64,40 @@ struct manual_control_setpoint_s { /** * 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 roll; /**< ailerons roll / roll rate input, -1..1 */ - float pitch; /**< elevator / pitch / pitch rate, -1..1 */ - float yaw; /**< rudder / yaw rate / yaw, -1..1 */ - float throttle; /**< throttle / collective thrust / altitude, 0..1 */ + 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 */ + 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; /**< mode 3 position switch (mandatory): manual, assisted, auto */ - switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */ - switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ - switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ + 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 */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index c168b2fac..370c54442 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -45,12 +45,12 @@ /** * The number of RC channel inputs supported. * Current (Q4/2013) radios support up to 18 channels, - * leaving at a sane value of 15. + * leaving at a sane value of 16. * This number can be greater then number of RC channels, * because single RC channel can be mapped to multiple * functions, e.g. for various mode switches. */ -#define RC_CHANNELS_MAPPED_MAX 15 +#define RC_CHANNELS_MAPPED_MAX 16 /** * This defines the mapping of the RC functions. @@ -64,15 +64,16 @@ enum RC_CHANNELS_FUNCTION { YAW = 3, MODE = 4, RETURN = 5, - ASSISTED = 6, + POSCTL = 6, LOITER = 7, OFFBOARD_MODE = 8, - FLAPS = 9, - AUX_1 = 10, - AUX_2 = 11, - AUX_3 = 12, - AUX_4 = 13, - AUX_5 = 14, + ACRO = 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. */ }; diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index a75810278..bbacb733a 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -68,6 +68,9 @@ struct vehicle_gps_position_s { float eph; /**< GPS HDOP horizontal dilution of position in m */ float epv; /**< GPS VDOP horizontal dilution of position in m */ + unsigned noise_per_ms; /**< */ + unsigned jamming_indicator; /**< */ + uint64_t timestamp_velocity; /**< Timestamp for velocity informations */ float vel_m_s; /**< GPS ground speed (m/s) */ float vel_n_m_s; /**< GPS ground speed in m/s */ @@ -85,7 +88,7 @@ struct vehicle_gps_position_s { uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ - uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ + uint8_t satellite_snr[20]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ bool satellite_info_available; /**< 0 for no info, 1 for info available */ }; diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index a15303ea4..5d39c897d 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -83,6 +83,8 @@ struct vehicle_local_position_s { float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */ uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */ bool dist_bottom_valid; /**< true if distance to bottom surface is valid */ + float eph; + float epv; }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index c6fe937ef..d902dc49e 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -61,9 +61,10 @@ /* main state machine */ typedef enum { MAIN_STATE_MANUAL = 0, - MAIN_STATE_SEATBELT, - MAIN_STATE_EASY, + MAIN_STATE_ALTCTL, + MAIN_STATE_POSCTL, MAIN_STATE_AUTO, + MAIN_STATE_ACRO, MAIN_STATE_MAX } main_state_t; |