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/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 manual_control_setpoint.h
* Definition of the manual_control_setpoint uORB topic.
*/
#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
#define TOPIC_MANUAL_CONTROL_SETPOINT_H_
#include <stdint.h>
#include "../uORB.h"
/**
* Switch position
*/
typedef enum {
SWITCH_POS_NONE = 0, /**< switch is not mapped */
SWITCH_POS_ON, /**< switch activated (value = 1) */
SWITCH_POS_MIDDLE, /**< middle position (value = 0) */
SWITCH_POS_OFF /**< switch not activated (value = -1) */
} switch_pos_t;
/**
* @addtogroup topics
* @{
*/
struct manual_control_setpoint_s {
uint64_t timestamp;
/**
* Any of the channels may not be available and be set to NaN
* to indicate that it does not contain valid data.
* The variable names follow the definition of the
* MANUAL_CONTROL mavlink message.
* The default range is from -1 to 1 (mavlink message -1000 to 1000)
* The range for the z variable is defined from 0 to 1. (The z field of
* the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
*/
float x; /**< stick position in x direction -1..1
in general corresponds to forward/back motion or pitch of vehicle,
in general a positive value means forward or negative pitch and
a negative value means backward or positive pitch */
float y; /**< stick position in y direction -1..1
in general corresponds to right/left motion or roll of vehicle,
in general a positive value means right or positive roll and
a negative value means left or negative roll */
float z; /**< throttle stick position 0..1
in general corresponds to up/down motion or thrust of vehicle,
in general the value corresponds to the demanded throttle by the user,
if the input is used for setting the setpoint of a vertical position
controller any value > 0.5 means up and any value < 0.5 means down */
float r; /**< yaw stick/twist positon, -1..1
in general corresponds to the righthand rotation around the vertical
(downwards) axis of the vehicle */
float flaps; /**< flap position */
float aux1; /**< default function: camera yaw / azimuth */
float aux2; /**< default function: camera pitch / tilt */
float aux3; /**< default function: camera trigger */
float aux4; /**< default function: camera roll */
float aux5; /**< default function: payload drop */
switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */
switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */
switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
}; /**< manual control inputs */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(manual_control_setpoint);
#endif
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