From 082074f99196f8c936e21740a84b6738cb87875e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 21 Sep 2012 12:55:41 +0200 Subject: Completely implemented offboard control --- apps/uORB/topics/manual_control_setpoint.h | 50 ++++++++++++++---------------- 1 file changed, 23 insertions(+), 27 deletions(-) (limited to 'apps/uORB/topics/manual_control_setpoint.h') diff --git a/apps/uORB/topics/manual_control_setpoint.h b/apps/uORB/topics/manual_control_setpoint.h index b01c7438d..a7f5be708 100644 --- a/apps/uORB/topics/manual_control_setpoint.h +++ b/apps/uORB/topics/manual_control_setpoint.h @@ -1,21 +1,21 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier * * 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. + * 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. + * 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. + * 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 @@ -57,31 +57,27 @@ */ enum MANUAL_CONTROL_MODE { - DIRECT = 0, - ROLLPOS_PITCHPOS_YAWRATE_THROTTLE = 1, - ROLLRATE_PITCHRATE_YAWRATE_THROTTLE = 2, - ROLLPOS_PITCHPOS_YAWPOS_THROTTLE = 3 + MANUAL_CONTROL_MODE_DIRECT = 0, + MANUAL_CONTROL_MODE_ATT_YAW_RATE = 1, + MANUAL_CONTROL_MODE_ATT_YAW_POS = 2, + MANUAL_CONTROL_MODE_MULTIROTOR_SIMPLE = 3 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ }; struct manual_control_setpoint_s { + uint64_t timestamp; - enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */ - float roll; /**< roll / roll rate input */ - float pitch; - float yaw; - float throttle; + enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */ + 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 override_mode_switch; + float override_mode_switch; - float ailerons; - float elevator; - float rudder; - float flaps; - - float aux1_cam_pan; - float aux2_cam_tilt; - float aux3_cam_zoom; - float aux4_cam_roll; + float aux1_cam_pan_flaps; + float aux2_cam_tilt; + float aux3_cam_zoom; + float aux4_cam_roll; }; /**< manual control inputs */ -- cgit v1.2.3