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-rw-r--r--src/drivers/ardrone_interface/ardrone_motor_control.c23
-rw-r--r--src/drivers/mkblctrl/mkblctrl.cpp14
-rw-r--r--src/drivers/px4fmu/fmu.cpp20
-rw-r--r--src/drivers/px4io/px4io.cpp56
-rw-r--r--src/modules/mavlink/orb_listener.c34
-rw-r--r--src/modules/px4iofirmware/mixer.cpp6
-rw-r--r--src/modules/sdlog2/sdlog2.c21
-rw-r--r--src/modules/uORB/objects_common.cpp7
-rw-r--r--src/modules/uORB/topics/actuator_controls_effective.h60
9 files changed, 41 insertions, 200 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c
index 01b89c8fa..81f634992 100644
--- a/src/drivers/ardrone_interface/ardrone_motor_control.c
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.c
@@ -46,7 +46,6 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls_effective.h>
#include <systemlib/err.h>
#include "ardrone_motor_control.h"
@@ -384,9 +383,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */
static bool initialized = false;
- /* publish effective outputs */
- static struct actuator_controls_effective_s actuator_controls_effective;
- static orb_advert_t actuator_controls_effective_pub;
/* linearly scale the control inputs from 0 to startpoint_full_control */
if (motor_thrust < startpoint_full_control) {
@@ -430,25 +426,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
}
-
-
- /* publish effective outputs */
- actuator_controls_effective.control_effective[0] = roll_control;
- actuator_controls_effective.control_effective[1] = pitch_control;
- /* yaw output after limiting */
- actuator_controls_effective.control_effective[2] = yaw_control;
- /* possible motor thrust limiting */
- actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f;
-
- if (!initialized) {
- /* advertise and publish */
- actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective);
- initialized = true;
- } else {
- /* already initialized, just publishing */
- orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective);
- }
-
/* set the motor values */
/* scale up from 0..1 to 10..500) */
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index b93f38cf6..7ef883f94 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -73,7 +73,6 @@
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>
@@ -143,7 +142,6 @@ private:
int _frametype;
orb_advert_t _t_outputs;
- orb_advert_t _t_actuators_effective;
orb_advert_t _t_esc_status;
unsigned int _num_outputs;
@@ -252,7 +250,6 @@ MK::MK(int bus) :
_t_actuators(-1),
_t_actuator_armed(-1),
_t_outputs(0),
- _t_actuators_effective(0),
_t_esc_status(0),
_num_outputs(0),
_motortest(false),
@@ -525,13 +522,6 @@ MK::task_main()
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&outputs);
- /* advertise the effective control inputs */
- actuator_controls_effective_s controls_effective;
- memset(&controls_effective, 0, sizeof(controls_effective));
- /* advertise the effective control inputs */
- _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
- &controls_effective);
-
/* advertise the blctrl status */
esc_status_s esc;
memset(&esc, 0, sizeof(esc));
@@ -595,9 +585,6 @@ MK::task_main()
outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
outputs.timestamp = hrt_absolute_time();
- // XXX output actual limited values
- memcpy(&controls_effective, &_controls, sizeof(controls_effective));
-
/* iterate actuators */
for (unsigned int i = 0; i < _num_outputs; i++) {
@@ -701,7 +688,6 @@ MK::task_main()
//::close(_t_esc_status);
::close(_t_actuators);
- ::close(_t_actuators_effective);
::close(_t_actuator_armed);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index aab532514..b878d29bc 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -69,7 +69,6 @@
#include <drivers/drv_rc_input.h>
#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
@@ -123,7 +122,6 @@ private:
int _t_actuators;
int _t_actuator_armed;
orb_advert_t _t_outputs;
- orb_advert_t _t_actuators_effective;
unsigned _num_outputs;
bool _primary_pwm_device;
@@ -220,7 +218,6 @@ PX4FMU::PX4FMU() :
_t_actuators(-1),
_t_actuator_armed(-1),
_t_outputs(0),
- _t_actuators_effective(0),
_num_outputs(0),
_primary_pwm_device(false),
_task_should_exit(false),
@@ -471,13 +468,6 @@ PX4FMU::task_main()
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&outputs);
- /* advertise the effective control inputs */
- actuator_controls_effective_s controls_effective;
- memset(&controls_effective, 0, sizeof(controls_effective));
- /* advertise the effective control inputs */
- _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
- &controls_effective);
-
pollfd fds[2];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
@@ -550,7 +540,7 @@ PX4FMU::task_main()
if (fds[0].revents & POLLIN) {
/* get controls - must always do this to avoid spinning */
- orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
+ orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
/* can we mix? */
if (_mixers != nullptr) {
@@ -599,13 +589,6 @@ PX4FMU::task_main()
pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
- /* output actual limited values */
- for (unsigned i = 0; i < num_outputs; i++) {
- controls_effective.control_effective[i] = (float)pwm_limited[i];
- }
-
- orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
-
/* output to the servos */
for (unsigned i = 0; i < num_outputs; i++) {
up_pwm_servo_set(i, pwm_limited[i]);
@@ -670,7 +653,6 @@ PX4FMU::task_main()
}
::close(_t_actuators);
- ::close(_t_actuators_effective);
::close(_t_actuator_armed);
/* make sure servos are off */
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index cc3815f3e..5d35ecb8d 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -73,7 +73,6 @@
#include <systemlib/param/param.h>
#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
@@ -260,14 +259,12 @@ private:
/* advertised topics */
orb_advert_t _to_input_rc; ///< rc inputs from io
- orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
orb_advert_t _to_outputs; ///< mixed servo outputs topic
orb_advert_t _to_battery; ///< battery status / voltage
orb_advert_t _to_servorail; ///< servorail status
orb_advert_t _to_safety; ///< status of safety
actuator_outputs_s _outputs; ///<mixed outputs
- actuator_controls_effective_s _controls_effective; ///<effective controls
bool _primary_pwm_device; ///<true if we are the default PWM output
@@ -331,11 +328,6 @@ private:
int io_publish_raw_rc();
/**
- * Fetch and publish the mixed control values.
- */
- int io_publish_mixed_controls();
-
- /**
* Fetch and publish the PWM servo outputs.
*/
int io_publish_pwm_outputs();
@@ -475,7 +467,6 @@ PX4IO::PX4IO(device::Device *interface) :
_t_param(-1),
_t_vehicle_command(-1),
_to_input_rc(0),
- _to_actuators_effective(0),
_to_outputs(0),
_to_battery(0),
_to_servorail(0),
@@ -843,8 +834,7 @@ PX4IO::task_main()
/* get raw R/C input from IO */
io_publish_raw_rc();
- /* fetch mixed servo controls and PWM outputs from IO */
- io_publish_mixed_controls();
+ /* fetch PWM outputs from IO */
io_publish_pwm_outputs();
}
@@ -1367,50 +1357,6 @@ PX4IO::io_publish_raw_rc()
}
int
-PX4IO::io_publish_mixed_controls()
-{
- /* if no FMU comms(!) just don't publish */
- if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
- return OK;
-
- /* if not taking raw PPM from us, must be mixing */
- if (_status & PX4IO_P_STATUS_FLAGS_RAW_PWM)
- return OK;
-
- /* data we are going to fetch */
- actuator_controls_effective_s controls_effective;
- controls_effective.timestamp = hrt_absolute_time();
-
- /* get actuator controls from IO */
- uint16_t act[_max_actuators];
- int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators);
-
- if (ret != OK)
- return ret;
-
- /* convert from register format to float */
- for (unsigned i = 0; i < _max_actuators; i++)
- controls_effective.control_effective[i] = REG_TO_FLOAT(act[i]);
-
- /* laxily advertise on first publication */
- if (_to_actuators_effective == 0) {
- _to_actuators_effective =
- orb_advertise((_primary_pwm_device ?
- ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
- ORB_ID(actuator_controls_effective_1)),
- &controls_effective);
-
- } else {
- orb_publish((_primary_pwm_device ?
- ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
- ORB_ID(actuator_controls_effective_1)),
- _to_actuators_effective, &controls_effective);
- }
-
- return OK;
-}
-
-int
PX4IO::io_publish_pwm_outputs()
{
/* if no FMU comms(!) just don't publish */
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index abc91d34f..a19252465 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -72,7 +72,6 @@ struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
-struct actuator_controls_effective_s actuators_effective_0;
struct actuator_controls_s actuators_0;
struct vehicle_attitude_s att;
struct airspeed_s airspeed;
@@ -119,7 +118,6 @@ static void l_attitude_setpoint(const struct listener *l);
static void l_actuator_outputs(const struct listener *l);
static void l_actuator_armed(const struct listener *l);
static void l_manual_control_setpoint(const struct listener *l);
-static void l_vehicle_attitude_controls_effective(const struct listener *l);
static void l_vehicle_attitude_controls(const struct listener *l);
static void l_debug_key_value(const struct listener *l);
static void l_optical_flow(const struct listener *l);
@@ -147,7 +145,6 @@ static const struct listener listeners[] = {
{l_actuator_armed, &mavlink_subs.armed_sub, 0},
{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
- {l_vehicle_attitude_controls_effective, &mavlink_subs.actuators_effective_sub, 0},
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
{l_optical_flow, &mavlink_subs.optical_flow, 0},
{l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0},
@@ -249,7 +246,7 @@ l_vehicle_attitude(const struct listener *l)
last_sent_vfr = t;
float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f;
- float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1);
+ float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f;
mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
}
}
@@ -604,32 +601,6 @@ l_manual_control_setpoint(const struct listener *l)
}
void
-l_vehicle_attitude_controls_effective(const struct listener *l)
-{
- orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_effective_sub, &actuators_effective_0);
-
- if (gcs_link) {
- /* send, add spaces so that string buffer is at least 10 chars long */
- mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
- last_sensor_timestamp / 1000,
- "eff ctrl0 ",
- actuators_effective_0.control_effective[0]);
- mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
- last_sensor_timestamp / 1000,
- "eff ctrl1 ",
- actuators_effective_0.control_effective[1]);
- mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
- last_sensor_timestamp / 1000,
- "eff ctrl2 ",
- actuators_effective_0.control_effective[2]);
- mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
- last_sensor_timestamp / 1000,
- "eff ctrl3 ",
- actuators_effective_0.control_effective[3]);
- }
-}
-
-void
l_vehicle_attitude_controls(const struct listener *l)
{
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators_0);
@@ -839,9 +810,6 @@ uorb_receive_start(void)
orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */
/* --- ACTUATOR CONTROL VALUE --- */
- mavlink_subs.actuators_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
- orb_set_interval(mavlink_subs.actuators_effective_sub, 100); /* 10Hz updates */
-
mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 05897b4ce..35ef5fcf6 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -185,7 +185,7 @@ mixer_tick(void)
r_page_servos[i] = r_page_servo_failsafe[i];
/* safe actuators for FMU feedback */
- r_page_actuators[i] = (r_page_servos[i] - 1500) / 600.0f;
+ r_page_actuators[i] = FLOAT_TO_REG((r_page_servos[i] - 1500) / 600.0f);
}
@@ -201,6 +201,10 @@ mixer_tick(void)
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
r_page_servos[i] = 0;
+
+ for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
+ r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
+ }
}
if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) {
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index f94875d5b..2adb13f5c 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -68,7 +68,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -691,7 +690,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_rates_setpoint_s rates_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
- struct actuator_controls_effective_s act_controls_effective;
struct vehicle_local_position_s local_pos;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
@@ -717,7 +715,6 @@ int sdlog2_thread_main(int argc, char *argv[])
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
- int act_controls_effective_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
@@ -763,9 +760,9 @@ int sdlog2_thread_main(int argc, char *argv[])
memset(&log_msg.body, 0, sizeof(log_msg.body));
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
- /* number of messages */
- const ssize_t fdsc = 20;
- /* Sanity check variable and index */
+ /* number of subscriptions */
+ const ssize_t fdsc = 19;
+ /* sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
@@ -824,12 +821,6 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
- /* --- ACTUATOR CONTROL EFFECTIVE --- */
- subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
- fds[fdsc_count].fd = subs.act_controls_effective_sub;
- fds[fdsc_count].events = POLLIN;
- fdsc_count++;
-
/* --- LOCAL POSITION --- */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
@@ -1114,12 +1105,6 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(ATTC);
}
- /* --- ACTUATOR CONTROL EFFECTIVE --- */
- if (fds[ifds++].revents & POLLIN) {
- orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective);
- // TODO not implemented yet
- }
-
/* --- LOCAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 3514dca24..c6a252b55 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -169,13 +169,6 @@ ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
#include "topics/actuator_armed.h"
ORB_DEFINE(actuator_armed, struct actuator_armed_s);
-/* actuator controls, as set by actuators / mixers after limiting */
-#include "topics/actuator_controls_effective.h"
-ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
-
#include "topics/actuator_outputs.h"
ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
diff --git a/src/modules/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h
index d7b404ad4..54d84231f 100644
--- a/src/modules/uORB/topics/actuator_controls_effective.h
+++ b/src/modules/uORB/topics/actuator_controls_effective.h
@@ -46,34 +46,34 @@
#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
-#include <stdint.h>
-#include "../uORB.h"
-#include "actuator_controls.h"
+//#include <stdint.h>
+//#include "../uORB.h"
+//#include "actuator_controls.h"
+//
+//#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
+//#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
+//
+///**
+// * @addtogroup topics
+// * @{
+// */
+//
+//struct actuator_controls_effective_s {
+// uint64_t timestamp;
+// float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
+//};
+//
+///**
+// * @}
+// */
+//
+///* actuator control sets; this list can be expanded as more controllers emerge */
+//ORB_DECLARE(actuator_controls_effective_0);
+//ORB_DECLARE(actuator_controls_effective_1);
+//ORB_DECLARE(actuator_controls_effective_2);
+//ORB_DECLARE(actuator_controls_effective_3);
+//
+///* control sets with pre-defined applications */
+//#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
-#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
-#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct actuator_controls_effective_s {
- uint64_t timestamp;
- float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
-};
-
-/**
- * @}
- */
-
-/* actuator control sets; this list can be expanded as more controllers emerge */
-ORB_DECLARE(actuator_controls_effective_0);
-ORB_DECLARE(actuator_controls_effective_1);
-ORB_DECLARE(actuator_controls_effective_2);
-ORB_DECLARE(actuator_controls_effective_3);
-
-/* control sets with pre-defined applications */
-#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
-
-#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */ \ No newline at end of file
+#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-07 08:43:05 +0000