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/* Structure for storage of shared variables (extended( */
/* global_data_subsystem_info stores a buffer of the sensor info/status messages (sent by sensors or gps app), this is then handled by the commander. (The commander then writes to global_data_sys_status which is read by mavlink) */
/* (any app) --> global_data_subsystem_info (buffered) --> (commander app) --> global_data_sys_status --> (mavlink app) */
#ifndef GLOBAL_DATA_SUBSYSTEM_INFO_T_H_ //adjust this line!
#define GLOBAL_DATA_SUBSYSTEM_INFO_T_H_ //adjust this line!
#define SUBSYSTEM_INFO_BUFFER_SIZE 10
#include "global_data_access.h"
typedef enum //values correspond to bitmasks of mavlink message sys_status, this is crucial for the underlying bitmask to work
{
SUBSYSTEM_TYPE_GYRO = 0,
SUBSYSTEM_TYPE_ACC = 1,
SUBSYSTEM_TYPE_MAG = 2,
SUBSYSTEM_TYPE_ABSPRESSURE = 3,
SUBSYSTEM_TYPE_DIFFPRESSURE = 4,
SUBSYSTEM_TYPE_GPS = 5,
SUBSYSTEM_TYPE_OPTICALFLOW = 6,
SUBSYSTEM_TYPE_CVPOSITION = 7,
SUBSYSTEM_TYPE_LASERPOSITION = 8,
SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 9,
SUBSYSTEM_TYPE_ANGULARRATECONTROL = 10,
SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 11,
SUBSYSTEM_TYPE_YAWPOSITION = 12,
SUBSYSTEM_TYPE_ALTITUDECONTROL = 13,
SUBSYSTEM_TYPE_POSITIONCONTROL = 14,
SUBSYSTEM_TYPE_MOTORCONTROL = 15
} subsystem_type_t;
typedef struct
{
uint8_t present;
uint8_t enabled;
uint8_t health;
subsystem_type_t subsystem_type;
} __attribute__((__packed__)) subsystem_info_t;
typedef struct
{
/* Struct which stores the access configuration, this is the same for all shared structs */
access_conf_t access_conf; //don't remove this line!
/* use of a counter and timestamp recommended (but not necessary) */
uint16_t counter; //incremented by the writing thread everytime new data is stored
uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
/* Actual data, this is specific to the type of data which is stored in this struct */
//***** Start: Add your variables here *****
subsystem_info_t info[SUBSYSTEM_INFO_BUFFER_SIZE];
uint8_t current_info;
//*****END: Add your variables here *****
} global_data_subsystem_info_t; //adjust this line!
extern global_data_subsystem_info_t* global_data_subsystem_info; //adjust this line!
#endif
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