From dc945a3f3f9f7295c73fc8280d6a0048e059c469 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 8 Dec 2014 12:12:23 +0100
Subject: actuator controls as msg

---
 src/modules/mc_att_control/mc_att_control_base.h   |  2 +-
 src/modules/mc_att_control/mc_att_control_main.cpp |  6 ----
 src/modules/uORB/topics/actuator_controls.h        | 38 +++++++---------------
 src/platforms/px4_defines.h                        |  7 ++++
 src/platforms/px4_includes.h                       |  4 +++
 src/systemcmds/esc_calib/esc_calib.c               |  1 +
 6 files changed, 24 insertions(+), 34 deletions(-)

(limited to 'src')

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 d42d672c0..c7853a0ec 100644
--- a/src/modules/mc_att_control/mc_att_control_base.h
+++ b/src/modules/mc_att_control/mc_att_control_base.h
@@ -53,11 +53,11 @@
 #include <errno.h>
 #include <math.h>
 
-#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 <uORB/topics/actuator_armed.h>
+#include <uORB/topics/parameter_update.h>
 #include <systemlib/perf_counter.h>
 #include <lib/mathlib/mathlib.h>
 
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index a8a3ae6b0..6ab4f95cd 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -61,12 +61,6 @@
 #include <poll.h>
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
-#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 <uORB/topics/actuator_armed.h>
-#include <uORB/topics/parameter_update.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index 43f7a59ee..3e43107ad 100644
--- a/src/modules/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2014 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
@@ -31,48 +31,32 @@
  *
  ****************************************************************************/
 
-/**
- * @file actuator_controls.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
- */
+ /* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/actuator_controls.msg */
+
 
-#ifndef TOPIC_ACTUATOR_CONTROLS_H
-#define TOPIC_ACTUATOR_CONTROLS_H
+#pragma once
 
 #include <stdint.h>
-#include <platforms/px4_defines.h>
+#include "../uORB.h"
 
-#define NUM_ACTUATOR_CONTROLS		8
-#define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */
+#define NUM_ACTUATOR_CONTROLS 8
+#define NUM_ACTUATOR_CONTROL_GROUPS 4
 
-/* control sets with pre-defined applications */
-#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS	ORB_ID(actuator_controls_0)
 
 /**
  * @addtogroup topics
  * @{
  */
 
+
 struct actuator_controls_s {
 	uint64_t timestamp;
-	float	control[NUM_ACTUATOR_CONTROLS];
+	float control[8];
 };
 
 /**
  * @}
  */
 
-/* actuator control sets; this list can be expanded as more controllers emerge */
-ORB_DECLARE(actuator_controls_0);
-ORB_DECLARE(actuator_controls_1);
-ORB_DECLARE(actuator_controls_2);
-ORB_DECLARE(actuator_controls_3);
-
-#endif
+/* register this as object request broker structure */
+ORB_DECLARE(actuator_controls);
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index ff302448a..daeff9cf3 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -139,3 +139,10 @@ typedef param_t px4_param_t;
 
 /* wrapper for rotation matrices stored in arrays */
 #define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
+
+/* Diverese uORB header defiens */ //XXX: move to better location
+#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS    ORB_ID(actuator_controls_0)
+ORB_DECLARE(actuator_controls_0);
+ORB_DECLARE(actuator_controls_1);
+ORB_DECLARE(actuator_controls_2);
+ORB_DECLARE(actuator_controls_3);
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
index 2045bd2a8..3e94586c1 100644
--- a/src/platforms/px4_includes.h
+++ b/src/platforms/px4_includes.h
@@ -57,6 +57,10 @@
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/actuator_controls_0.h>
+#include <uORB/topics/actuator_controls_1.h>
+#include <uORB/topics/actuator_controls_2.h>
+#include <uORB/topics/actuator_controls_3.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
 
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index 7d80af307..20967b541 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -39,6 +39,7 @@
  */
 
 #include <nuttx/config.h>
+#include <platforms/px4_defines.h>
 
 #include <stdio.h>
 #include <stdlib.h>
-- 
cgit v1.2.3