From 503cb0ea03ecf6922b5c98aeade2a247ed41ac5f Mon Sep 17 00:00:00 2001 From: px4dev Date: Mon, 20 Aug 2012 21:17:50 -0700 Subject: Add an ORB topic that can be subscribed for notification of changes in the parameter set. --- apps/uORB/topics/parameters.h | 59 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 59 insertions(+) create mode 100644 apps/uORB/topics/parameters.h (limited to 'apps/uORB') diff --git a/apps/uORB/topics/parameters.h b/apps/uORB/topics/parameters.h new file mode 100644 index 000000000..9dd76e8bc --- /dev/null +++ b/apps/uORB/topics/parameters.h @@ -0,0 +1,59 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 parameters.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 + */ + +#ifndef TOPIC_PARAMETERS_H +#define TOPIC_PARAMETERS_H + +#include +#include "../uORB.h" + +struct parameter_update_s { + /** time at which the latest parameter was updated */ + uint64_t timestamp; +}; + +ORB_DECLARE(parameter_update); + +#endif \ No newline at end of file -- cgit v1.2.3