diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 1 | ||||
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 95 | ||||
-rw-r--r-- | src/platforms/px4_includes.h | 1 |
4 files changed, 2 insertions, 96 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index e07bcc225..f8399d10b 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -77,6 +77,7 @@ #include <uORB/topics/navigation_capabilities.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/parameter_update.h> +#include <uORB/topics/vehicle_status.h> #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/pid/pid.h> 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 6c4b5c707..036dd4c48 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -53,7 +53,6 @@ #include <errno.h> #include <math.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> 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 2dd8550bc..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 <platforms/px4_defines.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/platforms/px4_includes.h b/src/platforms/px4_includes.h index 950f5cc79..a8b94076e 100644 --- a/src/platforms/px4_includes.h +++ b/src/platforms/px4_includes.h @@ -60,6 +60,7 @@ #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 <systemlib/err.h> #include <systemlib/param/param.h> |