diff options
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/Publication.cpp | 8 | ||||
| -rw-r--r-- | src/modules/uORB/Publication.hpp | 96 | ||||
| -rw-r--r-- | src/modules/uORB/Subscription.cpp | 20 | ||||
| -rw-r--r-- | src/modules/uORB/Subscription.hpp | 117 | ||||
| -rw-r--r-- | src/modules/uORB/topics/actuator_armed.h | 69 | ||||
| -rw-r--r-- | src/modules/uORB/topics/actuator_controls.h | 82 | ||||
| -rw-r--r-- | src/modules/uORB/topics/airspeed.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/fence.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 111 | ||||
| -rw-r--r-- | src/modules/uORB/topics/parameter_update.h | 61 | ||||
| -rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 99 | ||||
| -rwxr-xr-x | src/modules/uORB/topics/vehicle_attitude.h | 91 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_attitude_setpoint.h | 89 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 95 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_rates_setpoint.h | 68 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 263 | ||||
| -rw-r--r-- | src/modules/uORB/uORB.h | 30 |
18 files changed, 222 insertions, 1083 deletions
diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp index 71757e1f4..41a866968 100644 --- a/src/modules/uORB/Publication.cpp +++ b/src/modules/uORB/Publication.cpp @@ -49,15 +49,16 @@ #include "topics/actuator_direct.h" #include "topics/encoders.h" #include "topics/tecs_status.h" +#include "topics/rc_channels.h" namespace uORB { template<class T> Publication<T>::Publication( - List<PublicationBase *> * list, - const struct orb_metadata *meta) : + const struct orb_metadata *meta, + List<PublicationNode *> * list) : T(), // initialize data structure to zero - PublicationBase(list, meta) { + PublicationNode(meta, list) { } template<class T> @@ -80,5 +81,6 @@ template class __EXPORT Publication<actuator_outputs_s>; template class __EXPORT Publication<actuator_direct_s>; template class __EXPORT Publication<encoders_s>; template class __EXPORT Publication<tecs_status_s>; +template class __EXPORT Publication<rc_channels_s>; } diff --git a/src/modules/uORB/Publication.hpp b/src/modules/uORB/Publication.hpp index 8650b3df8..fd1ee4dec 100644 --- a/src/modules/uORB/Publication.hpp +++ b/src/modules/uORB/Publication.hpp @@ -38,6 +38,8 @@ #pragma once +#include <assert.h> + #include <uORB/uORB.h> #include <containers/List.hpp> @@ -49,55 +51,112 @@ namespace uORB * Base publication warapper class, used in list traversal * of various publications. */ -class __EXPORT PublicationBase : public ListNode<uORB::PublicationBase *> +class __EXPORT PublicationBase { public: - PublicationBase( - List<PublicationBase *> * list, - const struct orb_metadata *meta) : + /** + * Constructor + * + * + * @param meta The uORB metadata (usually from the ORB_ID() + * macro) for the topic. + */ + PublicationBase(const struct orb_metadata *meta) : _meta(meta), _handle(-1) { - if (list != NULL) list->add(this); } - void update() { + + /** + * Update the struct + * @param data The uORB message struct we are updating. + */ + void update(void * data) { if (_handle > 0) { - orb_publish(getMeta(), getHandle(), getDataVoidPtr()); + orb_publish(getMeta(), getHandle(), data); } else { - setHandle(orb_advertise(getMeta(), getDataVoidPtr())); + setHandle(orb_advertise(getMeta(), data)); } } - virtual void *getDataVoidPtr() = 0; + + /** + * Deconstructor + */ virtual ~PublicationBase() { orb_unsubscribe(getHandle()); } +// accessors const struct orb_metadata *getMeta() { return _meta; } int getHandle() { return _handle; } protected: +// accessors void setHandle(orb_advert_t handle) { _handle = handle; } +// attributes const struct orb_metadata *_meta; orb_advert_t _handle; }; /** + * alias class name so it is clear that the base class + * can be used by itself if desired + */ +typedef PublicationBase PublicationTiny; + +/** + * The publication base class as a list node. + */ +class __EXPORT PublicationNode : + public PublicationBase, + public ListNode<PublicationNode *> +{ +public: + /** + * Constructor + * + * + * @param meta The uORB metadata (usually from the ORB_ID() + * macro) for the topic. + * @param list A pointer to a list of subscriptions + * that this should be appended to. + */ + PublicationNode(const struct orb_metadata *meta, + List<PublicationNode *> * list=nullptr) : + PublicationBase(meta) { + if (list != nullptr) list->add(this); + } + + /** + * This function is the callback for list traversal + * updates, a child class must implement it. + */ + virtual void update() = 0; +}; + +/** * Publication wrapper class */ template<class T> class Publication : public T, // this must be first! - public PublicationBase + public PublicationNode { public: /** * Constructor * - * @param list A list interface for adding to list during construction - * @param meta The uORB metadata (usually from the ORB_ID() macro) - * for the topic. + * @param meta The uORB metadata (usually from + * the ORB_ID() macro) for the topic. + * @param list A list interface for adding to + * list during construction */ - Publication(List<PublicationBase *> * list, - const struct orb_metadata *meta); + Publication(const struct orb_metadata *meta, + List<PublicationNode *> * list=nullptr); + + /** + * Deconstructor + **/ virtual ~Publication(); + /* * XXX * This function gets the T struct, assuming @@ -106,6 +165,13 @@ public: * seem to be available */ void *getDataVoidPtr(); + + /** + * Create an update function that uses the embedded struct. + */ + void update() { + PublicationBase::update(getDataVoidPtr()); + } }; } // namespace uORB diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp index 44b6debc7..fa0594c2e 100644 --- a/src/modules/uORB/Subscription.cpp +++ b/src/modules/uORB/Subscription.cpp @@ -52,25 +52,18 @@ #include "topics/vehicle_local_position.h" #include "topics/vehicle_attitude_setpoint.h" #include "topics/vehicle_rates_setpoint.h" +#include "topics/rc_channels.h" namespace uORB { -bool __EXPORT SubscriptionBase::updated() -{ - bool isUpdated = false; - orb_check(_handle, &isUpdated); - return isUpdated; -} - template<class T> Subscription<T>::Subscription( - List<SubscriptionBase *> * list, - const struct orb_metadata *meta, unsigned interval) : + const struct orb_metadata *meta, + unsigned interval, + List<SubscriptionNode *> * list) : T(), // initialize data structure to zero - SubscriptionBase(list, meta) { - setHandle(orb_subscribe(getMeta())); - orb_set_interval(getHandle(), interval); + SubscriptionNode(meta, interval, list) { } template<class T> @@ -101,5 +94,8 @@ template class __EXPORT Subscription<vehicle_local_position_setpoint_s>; template class __EXPORT Subscription<vehicle_local_position_s>; template class __EXPORT Subscription<vehicle_attitude_setpoint_s>; template class __EXPORT Subscription<vehicle_rates_setpoint_s>; +template class __EXPORT Subscription<rc_channels_s>; +template class __EXPORT Subscription<vehicle_control_mode_s>; +template class __EXPORT Subscription<actuator_armed_s>; } // namespace uORB diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp index 34e9a83e0..f82586285 100644 --- a/src/modules/uORB/Subscription.hpp +++ b/src/modules/uORB/Subscription.hpp @@ -38,10 +38,11 @@ #pragma once +#include <assert.h> + #include <uORB/uORB.h> #include <containers/List.hpp> - namespace uORB { @@ -49,8 +50,7 @@ namespace uORB * Base subscription warapper class, used in list traversal * of various subscriptions. */ -class __EXPORT SubscriptionBase : - public ListNode<SubscriptionBase *> +class __EXPORT SubscriptionBase { public: // methods @@ -58,23 +58,42 @@ public: /** * Constructor * - * @param meta The uORB metadata (usually from the ORB_ID() macro) - * for the topic. + * @param meta The uORB metadata (usually from the ORB_ID() + * macro) for the topic. + * + * @param interval The minimum interval in milliseconds + * between updates */ - SubscriptionBase( - List<SubscriptionBase *> * list, - const struct orb_metadata *meta) : + SubscriptionBase(const struct orb_metadata *meta, + unsigned interval=0) : _meta(meta), _handle() { - if (list != NULL) list->add(this); + setHandle(orb_subscribe(getMeta())); + orb_set_interval(getHandle(), interval); } - bool updated(); - void update() { + + /** + * Check if there is a new update. + * */ + bool updated() { + bool isUpdated = false; + orb_check(_handle, &isUpdated); + return isUpdated; + } + + /** + * Update the struct + * @param data The uORB message struct we are updating. + */ + void update(void * data) { if (updated()) { - orb_copy(_meta, _handle, getDataVoidPtr()); + orb_copy(_meta, _handle, data); } } - virtual void *getDataVoidPtr() = 0; + + /** + * Deconstructor + */ virtual ~SubscriptionBase() { orb_unsubscribe(_handle); } @@ -90,30 +109,86 @@ protected: }; /** + * alias class name so it is clear that the base class + */ +typedef SubscriptionBase SubscriptionTiny; + +/** + * The publication base class as a list node. + */ +class __EXPORT SubscriptionNode : + + public SubscriptionBase, + public ListNode<SubscriptionNode *> +{ +public: + /** + * Constructor + * + * + * @param meta The uORB metadata (usually from the ORB_ID() + * macro) for the topic. + * @param interval The minimum interval in milliseconds + * between updates + * @param list A pointer to a list of subscriptions + * that this should be appended to. + */ + SubscriptionNode(const struct orb_metadata *meta, + unsigned interval=0, + List<SubscriptionNode *> * list=nullptr) : + SubscriptionBase(meta, interval), + _interval(interval) { + if (list != nullptr) list->add(this); + } + + /** + * This function is the callback for list traversal + * updates, a child class must implement it. + */ + virtual void update() = 0; +// accessors + unsigned getInterval() { return _interval; } +protected: +// attributes + unsigned _interval; + +}; + +/** * Subscription wrapper class */ template<class T> class __EXPORT Subscription : public T, // this must be first! - public SubscriptionBase + public SubscriptionNode { public: /** * Constructor * - * @param list A list interface for adding to list during construction - * @param meta The uORB metadata (usually from the ORB_ID() macro) - * for the topic. - * @param interval The minimum interval in milliseconds between updates + * @param meta The uORB metadata (usually from + * the ORB_ID() macro) for the topic. + * @param interval The minimum interval in milliseconds + * between updates + * @param list A list interface for adding to + * list during construction */ - Subscription( - List<SubscriptionBase *> * list, - const struct orb_metadata *meta, unsigned interval); + Subscription(const struct orb_metadata *meta, + unsigned interval=0, + List<SubscriptionNode *> * list=nullptr); /** * Deconstructor */ virtual ~Subscription(); + + /** + * Create an update function that uses the embedded struct. + */ + void update() { + SubscriptionBase::update(getDataVoidPtr()); + } + /* * XXX * This function gets the T struct, assuming diff --git a/src/modules/uORB/topics/actuator_armed.h b/src/modules/uORB/topics/actuator_armed.h deleted file mode 100644 index 0f6c9aca1..000000000 --- a/src/modules/uORB/topics/actuator_armed.h +++ /dev/null @@ -1,69 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 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_armed.h - * - * Actuator armed topic - * - */ - -#ifndef TOPIC_ACTUATOR_ARMED_H -#define TOPIC_ACTUATOR_ARMED_H - -#include <stdint.h> -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -/** global 'actuator output is live' control. */ -struct actuator_armed_s { - - uint64_t timestamp; /**< Microseconds since system boot */ - bool armed; /**< Set to true if system is armed */ - bool ready_to_arm; /**< Set to true if system is ready to be armed */ - bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ - bool force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */ -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(actuator_armed); - -#endif 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 diff --git a/src/modules/uORB/topics/airspeed.h b/src/modules/uORB/topics/airspeed.h index d2ee754cd..676c37c77 100644 --- a/src/modules/uORB/topics/airspeed.h +++ b/src/modules/uORB/topics/airspeed.h @@ -40,7 +40,7 @@ #ifndef TOPIC_AIRSPEED_H_ #define TOPIC_AIRSPEED_H_ -#include "../uORB.h" +#include <platforms/px4_defines.h> #include <stdint.h> /** diff --git a/src/modules/uORB/topics/fence.h b/src/modules/uORB/topics/fence.h index 6f16c51cf..a61f078ba 100644 --- a/src/modules/uORB/topics/fence.h +++ b/src/modules/uORB/topics/fence.h @@ -42,7 +42,7 @@ #include <stdint.h> #include <stdbool.h> -#include "../uORB.h" +#include <platforms/px4_defines.h> /** * @addtogroup topics diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h deleted file mode 100644 index 50b7bd9e5..000000000 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ /dev/null @@ -1,111 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @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 manual_control_setpoint.h - * Definition of the manual_control_setpoint uORB topic. - */ - -#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_ -#define TOPIC_MANUAL_CONTROL_SETPOINT_H_ - -#include <stdint.h> -#include "../uORB.h" - -/** - * 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 */ -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(manual_control_setpoint); - -#endif diff --git a/src/modules/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h deleted file mode 100644 index 68964deb0..000000000 --- a/src/modules/uORB/topics/parameter_update.h +++ /dev/null @@ -1,61 +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 parameter_update.h - * Notification about a parameter update. - */ - -#ifndef TOPIC_PARAMETER_UPDATE_H -#define TOPIC_PARAMETER_UPDATE_H - -#include <stdint.h> -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -struct parameter_update_s { - /** time at which the latest parameter was updated */ - uint64_t timestamp; -}; - -/** - * @} - */ - -ORB_DECLARE(parameter_update); - -#endif
\ No newline at end of file diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h deleted file mode 100644 index 2fde5d424..000000000 --- a/src/modules/uORB/topics/rc_channels.h +++ /dev/null @@ -1,99 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2014 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. - * 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. - * - * @deprecated DO NOT USE FOR NEW CODE - */ - -#ifndef RC_CHANNELS_H_ -#define RC_CHANNELS_H_ - -#include <stdint.h> -#include "../uORB.h" - -/** - * This defines the mapping of the RC functions. - * The value assigned to the specific function corresponds to the entry of - * the channel array channels[]. - */ -enum RC_CHANNELS_FUNCTION { - THROTTLE = 0, - ROLL, - PITCH, - YAW, - MODE, - RETURN, - POSCTL, - LOITER, - OFFBOARD, - ACRO, - FLAPS, - AUX_1, - AUX_2, - AUX_3, - AUX_4, - AUX_5, - PARAM_1, - PARAM_2, - PARAM_3 -}; - -// MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS - -#define RC_CHANNELS_FUNCTION_MAX 19 - -/** - * @addtogroup topics - * @{ - */ -struct rc_channels_s { - uint64_t timestamp; /**< Timestamp in microseconds since boot time */ - uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ - float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ - uint8_t channel_count; /**< Number of valid channels */ - int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ - uint8_t rssi; /**< Receive signal strength index */ - bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ -}; /**< radio control channels. */ - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(rc_channels); - -#endif diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h deleted file mode 100755 index 019944dc0..000000000 --- a/src/modules/uORB/topics/vehicle_attitude.h +++ /dev/null @@ -1,91 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@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 vehicle_attitude.h - * Definition of the attitude uORB topic. - */ - -#ifndef VEHICLE_ATTITUDE_H_ -#define VEHICLE_ATTITUDE_H_ - -#include <stdint.h> -#include <stdbool.h> -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -/** - * Attitude in NED body frame in SI units. - * - * @see http://en.wikipedia.org/wiki/International_System_of_Units - */ -struct vehicle_attitude_s { - - uint64_t timestamp; /**< in microseconds since system start */ - - /* This is similar to the mavlink message ATTITUDE, but for onboard use */ - - /** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ - - float roll; /**< Roll angle (rad, Tait-Bryan, NED) */ - float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */ - float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */ - float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */ - float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */ - float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */ - float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */ - float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */ - float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */ - float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ - float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ - float q[4]; /**< Quaternion (NED) */ - float g_comp[3]; /**< Compensated gravity vector */ - bool R_valid; /**< Rotation matrix valid */ - bool q_valid; /**< Quaternion valid */ -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_attitude); - -#endif diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h deleted file mode 100644 index 1cfc37cc6..000000000 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ /dev/null @@ -1,89 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @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 vehicle_attitude_setpoint.h - * Definition of the vehicle attitude setpoint uORB topic. - */ - -#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_ -#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_ - -#include <stdint.h> -#include <stdbool.h> -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -/** - * vehicle attitude setpoint. - */ -struct vehicle_attitude_setpoint_s { - uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - - float roll_body; /**< body angle in NED frame */ - float pitch_body; /**< body angle in NED frame */ - float yaw_body; /**< body angle in NED frame */ - //float body_valid; /**< Set to true if body angles are valid */ - - float R_body[3][3]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ - bool R_valid; /**< Set to true if rotation matrix is valid */ - - //! For quaternion-based attitude control - float q_d[4]; /** Desired quaternion for quaternion control */ - bool q_d_valid; /**< Set to true if quaternion vector is valid */ - float q_e[4]; /** Attitude error in quaternion */ - bool q_e_valid; /**< Set to true if quaternion error vector is valid */ - - float thrust; /**< Thrust in Newton the power system should generate */ - - bool roll_reset_integral; /**< Reset roll integral part (navigation logic change) */ - bool pitch_reset_integral; /**< Reset pitch integral part (navigation logic change) */ - bool yaw_reset_integral; /**< Reset yaw integral part (navigation logic change) */ - -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_attitude_setpoint); -ORB_DECLARE(mc_virtual_attitude_setpoint); -ORB_DECLARE(fw_virtual_attitude_setpoint); - -#endif /* TOPIC_ARDRONE_CONTROL_H_ */ diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h deleted file mode 100644 index ca7705456..000000000 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ /dev/null @@ -1,95 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2014 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. - * 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 vehicle_control_mode.h - * Definition of the vehicle_control_mode uORB topic. - * - * All control apps should depend their actions based on the flags set here. - * - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - */ - -#ifndef VEHICLE_CONTROL_MODE -#define VEHICLE_CONTROL_MODE - -#include <stdint.h> -#include <stdbool.h> -#include "../uORB.h" -#include "vehicle_status.h" - -/** - * @addtogroup topics @{ - */ - - -/** - * state machine / state of vehicle. - * - * Encodes the complete system state and is set by the commander app. - */ - -struct vehicle_control_mode_s { - uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - - bool flag_armed; - - bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ - - // XXX needs yet to be set by state machine helper - bool flag_system_hil_enabled; - - bool flag_control_manual_enabled; /**< true if manual input is mixed in */ - bool flag_control_auto_enabled; /**< true if onboard autopilot should act */ - bool flag_control_offboard_enabled; /**< true if offboard control should be used */ - bool flag_control_rates_enabled; /**< true if rates are stabilized */ - bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ - bool flag_control_force_enabled; /**< true if force control is mixed in */ - bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ - bool flag_control_position_enabled; /**< true if position is controlled */ - bool flag_control_altitude_enabled; /**< true if altitude is controlled */ - bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ - bool flag_control_termination_enabled; /**< true if flighttermination is enabled */ -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_control_mode); - -#endif diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index bc7046690..137c86dd5 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -45,7 +45,7 @@ #include <stdint.h> #include <stdbool.h> -#include "../uORB.h" +#include <platforms/px4_defines.h> /** * @addtogroup topics diff --git a/src/modules/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h deleted file mode 100644 index 47d51f199..000000000 --- a/src/modules/uORB/topics/vehicle_rates_setpoint.h +++ /dev/null @@ -1,68 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @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 vehicle_rates_setpoint.h - * Definition of the vehicle rates setpoint topic - */ - -#ifndef TOPIC_VEHICLE_RATES_SETPOINT_H_ -#define TOPIC_VEHICLE_RATES_SETPOINT_H_ - -#include <stdint.h> -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ -struct vehicle_rates_setpoint_s { - uint64_t timestamp; /**< in microseconds since system start */ - - float roll; /**< body angular rates in NED frame */ - float pitch; /**< body angular rates in NED frame */ - float yaw; /**< body angular rates in NED frame */ - float thrust; /**< thrust normalized to 0..1 */ - -}; /**< vehicle_rates_setpoint */ - -/** -* @} -*/ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_rates_setpoint); -ORB_DECLARE(mc_virtual_rates_setpoint); -ORB_DECLARE(fw_virtual_rates_setpoint); -#endif diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h deleted file mode 100644 index b56e81e04..000000000 --- a/src/modules/uORB/topics/vehicle_status.h +++ /dev/null @@ -1,263 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 - 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. - * 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 vehicle_status.h - * Definition of the vehicle_status uORB topic. - * - * Published the state machine and the system status bitfields - * (see SYS_STATUS mavlink message), published only by commander app. - * - * All apps should write to subsystem_info: - * - * (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app) - * - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <julian@oes.ch> - */ - -#ifndef VEHICLE_STATUS_H_ -#define VEHICLE_STATUS_H_ - -#include <stdint.h> -#include <stdbool.h> -#include "../uORB.h" - -/** - * @addtogroup topics @{ - */ - -/** - * Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link. - */ -typedef enum { - MAIN_STATE_MANUAL = 0, - MAIN_STATE_ALTCTL, - MAIN_STATE_POSCTL, - MAIN_STATE_AUTO_MISSION, - MAIN_STATE_AUTO_LOITER, - MAIN_STATE_AUTO_RTL, - MAIN_STATE_ACRO, - MAIN_STATE_OFFBOARD, - MAIN_STATE_MAX -} main_state_t; - -// If you change the order, add or remove arming_state_t states make sure to update the arrays -// in state_machine_helper.cpp as well. -typedef enum { - ARMING_STATE_INIT = 0, - ARMING_STATE_STANDBY, - ARMING_STATE_ARMED, - ARMING_STATE_ARMED_ERROR, - ARMING_STATE_STANDBY_ERROR, - ARMING_STATE_REBOOT, - ARMING_STATE_IN_AIR_RESTORE, - ARMING_STATE_MAX, -} arming_state_t; - -typedef enum { - HIL_STATE_OFF = 0, - HIL_STATE_ON -} hil_state_t; - -/** - * Navigation state, i.e. "what should vehicle do". - */ -typedef enum { - NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */ - NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */ - NAVIGATION_STATE_POSCTL, /**< Position control mode */ - NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */ - NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ - NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */ - NAVIGATION_STATE_AUTO_RCRECOVER, /**< RC recover mode */ - NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */ - NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */ - 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_TERMINATION, /**< Termination mode */ - NAVIGATION_STATE_OFFBOARD, - NAVIGATION_STATE_MAX, -} navigation_state_t; - -enum VEHICLE_MODE_FLAG { - VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, - VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, - VEHICLE_MODE_FLAG_HIL_ENABLED = 32, - VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16, - VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, - VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, - VEHICLE_MODE_FLAG_TEST_ENABLED = 2, - VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 -}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */ - -/** - * Should match 1:1 MAVLink's MAV_TYPE ENUM - */ -enum VEHICLE_TYPE { - VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */ - VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */ - VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */ - VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */ - VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */ - VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */ - VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */ - VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */ - VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */ - VEHICLE_TYPE_ROCKET = 9, /* Rocket | */ - VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */ - VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */ - VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */ - VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */ - VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */ - VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */ - VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */ - VEHICLE_TYPE_KITE = 17, /* Kite | */ - VEHICLE_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */ - VEHICLE_TYPE_VTOL_DUOROTOR = 19, /* Vtol with two engines */ - VEHICLE_TYPE_VTOL_QUADROTOR = 20, /* Vtol with four engines*/ - VEHICLE_TYPE_ENUM_END = 21 /* | */ -}; - -enum VEHICLE_BATTERY_WARNING { - VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ - VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */ - VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */ -}; - -/** - * @addtogroup topics - * @{ - */ - -/** - * state machine / state of vehicle. - * - * Encodes the complete system state and is set by the commander app. - */ -struct vehicle_status_s { - /* use of a counter and timestamp recommended (but not necessary) */ - - uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ - uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - - main_state_t main_state; /**< main state machine */ - navigation_state_t nav_state; /**< set navigation state machine to specified value */ - arming_state_t arming_state; /**< current arming state */ - hil_state_t hil_state; /**< current hil state */ - bool failsafe; /**< true if system is in failsafe state */ - - int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */ - int32_t system_id; /**< system id, inspired by MAVLink's system ID field */ - int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */ - - bool is_rotary_wing; /**< True if system is in rotary wing configuration, so for a VTOL - this is only true while flying as a multicopter */ - bool is_vtol; /**< True if the system is VTOL capable */ - - bool vtol_fw_permanent_stab; /**< True if vtol should stabilize attitude for fw in manual mode */ - - bool condition_battery_voltage_valid; - bool condition_system_in_air_restore; /**< true if we can restore in mid air */ - bool condition_system_sensors_initialized; - bool condition_system_returned_to_home; - bool condition_auto_mission_available; - bool condition_global_position_valid; /**< set to true by the commander app if the quality of the position estimate is good enough to use it for navigation */ - bool condition_launch_position_valid; /**< indicates a valid launch position */ - bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */ - bool condition_local_position_valid; - bool condition_local_altitude_valid; - bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ - bool condition_landed; /**< true if vehicle is landed, always true if disarmed */ - bool condition_power_input_valid; /**< set if input power is valid */ - float avionics_power_rail_voltage; /**< voltage of the avionics power rail */ - - 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 */ - - bool data_link_lost; /**< datalink to GCS lost */ - bool data_link_lost_cmd; /**< datalink to GCS lost mode commanded */ - uint8_t data_link_lost_counter; /**< counts unique data link lost events */ - bool engine_failure; /** Set to true if an engine failure is detected */ - bool engine_failure_cmd; /** Set to true if an engine failure mode is commanded */ - bool gps_failure; /** Set to true if a gps failure is detected */ - bool gps_failure_cmd; /** Set to true if a gps failure mode is commanded */ - - bool barometer_failure; /** Set to true if a barometer failure is detected */ - - bool offboard_control_signal_found_once; - bool offboard_control_signal_lost; - bool offboard_control_signal_weak; - uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */ - bool offboard_control_set_by_command; /**< true if the offboard mode was set by a mavlink command - and should not be overridden by RC */ - - /* see SYS_STATUS mavlink message for the following */ - uint32_t onboard_control_sensors_present; - uint32_t onboard_control_sensors_enabled; - uint32_t onboard_control_sensors_health; - - float load; /**< processor load from 0 to 1 */ - float battery_voltage; - float battery_current; - float battery_remaining; - - enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */ - uint16_t drop_rate_comm; - uint16_t errors_comm; - uint16_t errors_count1; - uint16_t errors_count2; - uint16_t errors_count3; - uint16_t errors_count4; - - bool circuit_breaker_engaged_power_check; - bool circuit_breaker_engaged_airspd_check; - bool circuit_breaker_engaged_enginefailure_check; - bool circuit_breaker_engaged_gpsfailure_check; -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_status); - -#endif diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h index beb23f61d..f19fbba7c 100644 --- a/src/modules/uORB/uORB.h +++ b/src/modules/uORB/uORB.h @@ -152,7 +152,7 @@ typedef intptr_t orb_advert_t; * node in /obj if required and publishes the initial data. * * Any number of advertisers may publish to a topic; publications are atomic - * but co-ordination between publishers is not provided by the ORB. + * but co-ordination between publishers is not provided by the ORB. * * @param meta The uORB metadata (usually from the ORB_ID() macro) * for the topic. @@ -288,4 +288,32 @@ extern int orb_set_interval(int handle, unsigned interval) __EXPORT; __END_DECLS +/* Diverse uORB header defines */ //XXX: move to better location +#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) +ORB_DECLARE(actuator_controls_0); +typedef struct actuator_controls_s actuator_controls_0_s; +ORB_DECLARE(actuator_controls_1); +typedef struct actuator_controls_s actuator_controls_1_s; +ORB_DECLARE(actuator_controls_2); +typedef struct actuator_controls_s actuator_controls_2_s; +ORB_DECLARE(actuator_controls_3); +typedef struct actuator_controls_s actuator_controls_3_s; +ORB_DECLARE(actuator_controls_virtual_mc); +typedef struct actuator_controls_s actuator_controls_virtual_mc_s; +ORB_DECLARE(actuator_controls_virtual_fw); +typedef struct actuator_controls_s actuator_controls_virtual_fw_s; +ORB_DECLARE(mc_virtual_rates_setpoint); +typedef struct vehicle_rates_setpoint_s mc_virtual_rates_setpoint_s; +ORB_DECLARE(fw_virtual_rates_setpoint); +typedef struct vehicle_rates_setpoint_s fw_virtual_rates_setpoint_s; +ORB_DECLARE(mc_virtual_attitude_setpoint); +typedef struct vehicle_attitude_setpoint_s mc_virtual_attitude_setpoint_s; +ORB_DECLARE(fw_virtual_attitude_setpoint); +typedef struct vehicle_attitude_setpoint_s fw_virtual_attitude_setpoint_s; +typedef uint8_t arming_state_t; +typedef uint8_t main_state_t; +typedef uint8_t hil_state_t; +typedef uint8_t navigation_state_t; +typedef uint8_t switch_pos_t; + #endif /* _UORB_UORB_H */ |