diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.h | 2 | ||||
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 6 | ||||
| -rw-r--r-- | src/modules/uORB/topics/actuator_controls.h | 38 | ||||
| -rw-r--r-- | src/platforms/px4_defines.h | 7 | ||||
| -rw-r--r-- | src/platforms/px4_includes.h | 4 | ||||
| -rw-r--r-- | src/systemcmds/esc_calib/esc_calib.c | 1 |
6 files changed, 24 insertions, 34 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h index d42d672c0..c7853a0ec 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -53,11 +53,11 @@ #include <errno.h> #include <math.h> -#include <uORB/topics/actuator_controls.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/parameter_update.h> #include <systemlib/perf_counter.h> #include <lib/mathlib/mathlib.h> diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index a8a3ae6b0..6ab4f95cd 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -61,12 +61,6 @@ #include <poll.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_control_mode.h> -#include <uORB/topics/actuator_armed.h> -#include <uORB/topics/parameter_update.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/perf_counter.h> diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h index 43f7a59ee..3e43107ad 100644 --- a/src/modules/uORB/topics/actuator_controls.h +++ b/src/modules/uORB/topics/actuator_controls.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013-2014 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 @@ -31,48 +31,32 @@ * ****************************************************************************/ -/** - * @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 - */ + /* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/actuator_controls.msg */ + -#ifndef TOPIC_ACTUATOR_CONTROLS_H -#define TOPIC_ACTUATOR_CONTROLS_H +#pragma once #include <stdint.h> -#include <platforms/px4_defines.h> +#include "../uORB.h" -#define NUM_ACTUATOR_CONTROLS 8 -#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ +#define NUM_ACTUATOR_CONTROLS 8 +#define NUM_ACTUATOR_CONTROL_GROUPS 4 -/* 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; - float control[NUM_ACTUATOR_CONTROLS]; + float control[8]; }; /** * @} */ -/* 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); - -#endif +/* register this as object request broker structure */ +ORB_DECLARE(actuator_controls); diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index ff302448a..daeff9cf3 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -139,3 +139,10 @@ typedef param_t px4_param_t; /* wrapper for rotation matrices stored in arrays */ #define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y) + +/* Diverese uORB header defiens */ //XXX: move to better location +#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) +ORB_DECLARE(actuator_controls_0); +ORB_DECLARE(actuator_controls_1); +ORB_DECLARE(actuator_controls_2); +ORB_DECLARE(actuator_controls_3); diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h index 2045bd2a8..3e94586c1 100644 --- a/src/platforms/px4_includes.h +++ b/src/platforms/px4_includes.h @@ -57,6 +57,10 @@ #include <uORB/topics/rc_channels.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/actuator_controls_0.h> +#include <uORB/topics/actuator_controls_1.h> +#include <uORB/topics/actuator_controls_2.h> +#include <uORB/topics/actuator_controls_3.h> #include <systemlib/err.h> #include <systemlib/param/param.h> diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c index 7d80af307..20967b541 100644 --- a/src/systemcmds/esc_calib/esc_calib.c +++ b/src/systemcmds/esc_calib/esc_calib.c @@ -39,6 +39,7 @@ */ #include <nuttx/config.h> +#include <platforms/px4_defines.h> #include <stdio.h> #include <stdlib.h> |