diff options
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 37 | ||||
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 28 |
3 files changed, 21 insertions, 45 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index eac6d6e98..2b3a337b2 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -44,6 +44,16 @@ #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 * @{ */ @@ -51,32 +61,25 @@ struct manual_control_setpoint_s { uint64_t timestamp; - float roll; /**< ailerons roll / roll rate input */ - float pitch; /**< elevator / pitch / pitch rate */ - float yaw; /**< rudder / yaw rate / yaw */ - float throttle; /**< throttle / collective thrust / altitude */ - - float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ - float return_switch; /**< land 2 position switch (mandatory): land, no effect */ - float assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ - float mission_switch; /**< mission 2 position switch (optional): mission, loiter */ - /** - * Any of the channels below may not be available and be set to NaN + * Any of the channels may not be available and be set to NaN * to indicate that it does not contain valid data. */ - - // XXX needed or parameter? - //float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */ - - float flaps; /**< flap position */ - + 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 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; /**< 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 mission_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 6eb20efd1..3246a39dd 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -94,6 +94,7 @@ struct rc_channels_s { char function_name[RC_CHANNELS_FUNCTION_MAX][20]; int8_t function[RC_CHANNELS_FUNCTION_MAX]; uint8_t rssi; /**< Overall receive signal strength */ + bool signal_lost; /**< control signal lost, should be checked together with topic timeout */ }; /**< radio control channels. */ /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 56be4d241..48af4c9e2 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -93,29 +93,6 @@ typedef enum { FAILSAFE_STATE_MAX } failsafe_state_t; -typedef enum { - MODE_SWITCH_MANUAL = 0, - MODE_SWITCH_ASSISTED, - MODE_SWITCH_AUTO -} mode_switch_pos_t; - -typedef enum { - ASSISTED_SWITCH_SEATBELT = 0, - ASSISTED_SWITCH_EASY -} assisted_switch_pos_t; - -typedef enum { - RETURN_SWITCH_NONE = 0, - RETURN_SWITCH_NORMAL, - RETURN_SWITCH_RETURN -} return_switch_pos_t; - -typedef enum { - MISSION_SWITCH_NONE = 0, - MISSION_SWITCH_LOITER, - MISSION_SWITCH_MISSION -} mission_switch_pos_t; - enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, @@ -187,11 +164,6 @@ struct vehicle_status_s { bool is_rotary_wing; - mode_switch_pos_t mode_switch; - return_switch_pos_t return_switch; - assisted_switch_pos_t assisted_switch; - mission_switch_pos_t mission_switch; - bool condition_battery_voltage_valid; bool condition_system_in_air_restore; /**< true if we can restore in mid air */ bool condition_system_sensors_initialized; |