1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
|
/****************************************************************************
*
* 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.
*/
float roll; /**< ailerons roll / roll rate input, -1..1 */
float pitch; /**< elevator / pitch / pitch rate, -1..1 */
float yaw; /**< rudder / yaw rate / yaw, -1..1 */
float throttle; /**< throttle / collective thrust / altitude, 0..1 */
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; /**< mode 3 position switch (mandatory): manual, assisted, auto */
switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */
switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */
switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */
}; /**< manual control inputs */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(manual_control_setpoint);
#endif
|
