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/****************************************************************************
*
* Copyright (c) 2012, 2013 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
* 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 rc_channels.h
* Definition of the rc_channels uORB topic.
*/
#ifndef RC_CHANNELS_H_
#define RC_CHANNELS_H_
#include <stdint.h>
#include "../uORB.h"
/**
* The number of RC channel inputs supported.
* Current (Q4/2013) radios support up to 18 channels,
* leaving at a sane value of 16.
* This number can be greater then number of RC channels,
* because single RC channel can be mapped to multiple
* functions, e.g. for various mode switches.
*/
#define RC_CHANNELS_MAPPED_MAX 16
/**
* This defines the mapping of the RC functions.
* The value assigned to the specific function corresponds to the entry of
* the channel array chan[].
*/
enum RC_CHANNELS_FUNCTION {
THROTTLE = 0,
ROLL = 1,
PITCH = 2,
YAW = 3,
MODE = 4,
RETURN = 5,
POSCTL = 6,
LOITER = 7,
OFFBOARD_MODE = 8,
ACRO = 9,
FLAPS = 10,
AUX_1 = 11,
AUX_2 = 12,
AUX_3 = 13,
AUX_4 = 14,
AUX_5 = 15,
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
};
/**
* @addtogroup topics
* @{
*/
struct rc_channels_s {
uint64_t timestamp; /**< In microseconds since boot time. */
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
struct {
float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
} chan[RC_CHANNELS_MAPPED_MAX];
uint8_t chan_count; /**< number of valid channels */
/*String array to store the names of the functions*/
char function_name[RC_CHANNELS_FUNCTION_MAX][20];
int8_t function[RC_CHANNELS_FUNCTION_MAX];
uint8_t rssi; /**< Overall receive signal strength */
bool signal_lost; /**< control signal lost, should be checked together with topic timeout */
}; /**< radio control channels. */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(rc_channels);
#endif
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