diff options
Diffstat (limited to 'src/modules/uORB/topics')
| -rw-r--r-- | src/modules/uORB/topics/actuator_direct.h | 69 | ||||
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 16 | ||||
| -rw-r--r-- | src/modules/uORB/topics/optical_flow.h | 24 | ||||
| -rw-r--r-- | src/modules/uORB/topics/test_motor.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_gps_position.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 3 |
6 files changed, 96 insertions, 20 deletions
diff --git a/src/modules/uORB/topics/actuator_direct.h b/src/modules/uORB/topics/actuator_direct.h new file mode 100644 index 000000000..5f9d0f56d --- /dev/null +++ b/src/modules/uORB/topics/actuator_direct.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * 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_direct.h + * + * Actuator direct values. + * + * Values published to this topic are the direct actuator values which + * should be passed to actuators, bypassing mixing + */ + +#ifndef TOPIC_ACTUATOR_DIRECT_H +#define TOPIC_ACTUATOR_DIRECT_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_ACTUATORS_DIRECT 16 + +/** + * @addtogroup topics + * @{ + */ + +struct actuator_direct_s { + uint64_t timestamp; /**< timestamp in us since system boot */ + float values[NUM_ACTUATORS_DIRECT]; /**< actuator values, from -1 to 1 */ + unsigned nvalues; /**< number of valid values */ +}; + +/** + * @} + */ + +/* actuator direct ORB */ +ORB_DECLARE(actuator_direct); + +#endif // TOPIC_ACTUATOR_DIRECT_H diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 15b55648d..13138ebc9 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -47,7 +47,7 @@ * Switch position */ typedef enum { - SWITCH_POS_NONE = 0, /**< switch is not mapped */ + 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) */ @@ -93,13 +93,13 @@ struct manual_control_setpoint_s { 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 */ -}; /**< manual control inputs */ + 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 */ +}; /** * @} diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index 0196ae86b..d3dc46ee0 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -55,16 +55,22 @@ */ struct optical_flow_s { - uint64_t timestamp; /**< in microseconds since system start */ - - uint64_t flow_timestamp; /**< timestamp from flow sensor */ - int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ - int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ - float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ - float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ - float ground_distance_m; /**< Altitude / distance to ground in meters */ - uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint64_t timestamp; /**< in microseconds since system start */ uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */ + float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */ + float gyro_x_rate_integral; /**< accumulated gyro value in radians around x axis */ + float gyro_y_rate_integral; /**< accumulated gyro value in radians around y axis */ + float gyro_z_rate_integral; /**< accumulated gyro value in radians around z axis */ + float ground_distance_m; /**< Altitude / distance to ground in meters */ + uint32_t integration_timespan; /**<accumulation timespan in microseconds */ + uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */ + uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */ + int16_t gyro_temperature;/**< Temperature * 100 in centi-degrees Celsius */ + uint8_t quality; /**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */ + + + }; diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h index 491096934..2dd90e69d 100644 --- a/src/modules/uORB/topics/test_motor.h +++ b/src/modules/uORB/topics/test_motor.h @@ -57,7 +57,7 @@ struct test_motor_s { uint64_t timestamp; /**< output timestamp in us since system boot */ unsigned motor_number; /**< number of motor to spin */ - float value; /**< output data, in natural output units */ + float value; /**< output power, range [0..1] */ }; /** diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 31e616f4f..7888a50f4 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -79,7 +79,7 @@ struct vehicle_gps_position_s { bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */ uint64_t timestamp_time; /**< Timestamp for time information */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ + uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */ uint8_t satellites_used; /**< Number of satellites used */ }; diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 8e85b4835..131029061 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -108,7 +108,7 @@ typedef enum { NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */ NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_LAND, /**< Land mode */ - NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ + NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ NAVIGATION_STATE_TERMINATION, /**< Termination mode */ NAVIGATION_STATE_OFFBOARD, NAVIGATION_STATE_MAX, @@ -201,6 +201,7 @@ struct vehicle_status_s { bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */ bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */ bool rc_input_blocked; /**< set if RC input should be ignored */ |