From 4af4e4e1e5d7209819c1fb43508ddd1ebed4f9c7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 26 Aug 2014 10:14:36 +0200 Subject: Support additional payload commands and let commander ignore them --- src/modules/commander/commander.cpp | 5 +++++ src/modules/uORB/topics/vehicle_command.h | 19 ++++++++++++------- 2 files changed, 17 insertions(+), 7 deletions(-) (limited to 'src') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 74deda8cc..a5a772825 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -615,6 +615,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s case VEHICLE_CMD_PREFLIGHT_CALIBRATION: case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: case VEHICLE_CMD_PREFLIGHT_STORAGE: + case VEHICLE_CMD_CUSTOM_0: + case VEHICLE_CMD_CUSTOM_1: + case VEHICLE_CMD_CUSTOM_2: + case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY: + case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY: /* ignore commands that handled in low prio loop */ break; diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index 7db33d98b..44aa50572 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Lorenz Meier + * 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 @@ -37,6 +34,10 @@ /** * @file vehicle_command.h * Definition of the vehicle command uORB topic. + * + * @author Thomas Gubler + * @author Julian Oes + * @author Lorenz Meier */ #ifndef TOPIC_VEHICLE_COMMAND_H_ @@ -52,6 +53,9 @@ * but can contain additional ones. */ enum VEHICLE_CMD { + VEHICLE_CMD_CUSTOM_0 = 0, /* test command */ + VEHICLE_CMD_CUSTOM_1 = 1, /* test command */ + VEHICLE_CMD_CUSTOM_2 = 2, /* test command */ VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ @@ -87,7 +91,8 @@ enum VEHICLE_CMD { VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */ - VEHICLE_CMD_ENUM_END = 501, /* | */ + VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001, /**< Prepare a payload deployment in the flight plan */ + VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 /**< Control a pre-programmed payload deployment */ }; /** @@ -115,8 +120,8 @@ struct vehicle_command_s { float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */ float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */ float param4; /**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum. */ - float param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */ - float param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */ + double param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */ + double param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */ float param7; /**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum. */ enum VEHICLE_CMD command; /**< Command ID, as defined MAVLink by VEHICLE_CMD enum. */ uint8_t target_system; /**< System which should execute the command */ -- cgit v1.2.3