manual_control_setpoint as msg

msg/px4_msgs/manual_control_setpoint.msg

@@ -0,0 +1,44 @@
+
+uint8 SWITCH_POS_NONE = 0		# switch is not mapped
+uint8 SWITCH_POS_ON = 1			# switch activated (value = 1)
+uint8 SWITCH_POS_MIDDLE = 2		# middle position (value = 0)
+uint8 SWITCH_POS_OFF = 3		# switch not activated (value = -1)
+uint64 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)
+
+float32 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
+float32 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
+float32 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
+float32 r			 # yaw stick/twist positon, -1..1
+				 # in general corresponds to the righthand rotation around the vertical
+				 # (downwards) axis of the vehicle
+float32 flaps			 # flap position
+float32 aux1			 # default function: camera yaw / azimuth
+float32 aux2			 # default function: camera pitch / tilt
+float32 aux3			 # default function: camera trigger
+float32 aux4			 # default function: camera roll
+float32 aux5			 # default function: payload drop
+
+uint8 mode_switch		 # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
+uint8 return_switch		 # return to launch 2 position switch (mandatory): _NORMAL_, RTL
+uint8 posctl_switch		 # position control 2 position switch (optional): _ALTCTL_, POSCTL
+uint8 loiter_switch		 # loiter 2 position switch (optional): _MISSION_, LOITER
+uint8 acro_switch		 # acro 2 position switch (optional): _MANUAL_, ACRO
+uint8 offboard_switch		 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD

src/modules/mc_att_control/mc_att_control_base.h

@@ -53,7 +53,6 @@
 #include <errno.h>
 #include <math.h>
 
-#include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -61,7 +61,6 @@
 #include <poll.h>
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
-#include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>

src/modules/sensors/sensors.cpp

@@ -187,8 +187,8 @@ private:
 	/**
 	 * Get switch position for specified function.
 	 */
-	switch_pos_t	get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
-	switch_pos_t	get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
+	uint8_t	get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
+	uint8_t	get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
 
 	/**
 	 * Gather and publish RC input data.
@@ -1512,7 +1512,7 @@ Sensors::get_rc_value(uint8_t func, float min_value, float max_value)
 	}
 }
 
-switch_pos_t
+uint8_t
 Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
 {
 	if (_rc.function[func] >= 0) {
@@ -1533,7 +1533,7 @@ Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mi
 	}
 }
 
-switch_pos_t
+uint8_t
 Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
 {
 	if (_rc.function[func] >= 0) {

src/modules/uORB/topics/manual_control_setpoint.h

@@ -1,21 +1,20 @@
 /****************************************************************************
  *
- *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *	 Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   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
  * are met:
  *
  * 1. Redistributions of source code must retain the above copyright
- *		notice, this list of conditions and the following disclaimer.
+ *    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.
+ *    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.
+ *    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
@@ -32,73 +31,44 @@
  *
  ****************************************************************************/
 
-/**
- * @file manual_control_setpoint.h
- * Definition of the manual_control_setpoint uORB topic.
- */
+ /* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/manual_control_setpoint.msg */
+
 
-#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
-#define TOPIC_MANUAL_CONTROL_SETPOINT_H_
+#pragma once
 
 #include <stdint.h>
-#include <platforms/px4_defines.h>
+#include "../uORB.h"
+
+#define SWITCH_POS_NONE 0
+#define SWITCH_POS_ON 1
+#define SWITCH_POS_MIDDLE 2
+#define SWITCH_POS_OFF 3
 
-/**
- * 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 */
+	float x;
+	float y;
+	float z;
+	float r;
+	float flaps;
+	float aux1;
+	float aux2;
+	float aux3;
+	float aux4;
+	float aux5;
+	uint8_t mode_switch;
+	uint8_t return_switch;
+	uint8_t posctl_switch;
+	uint8_t loiter_switch;
+	uint8_t acro_switch;
+	uint8_t offboard_switch;
 };
 
 /**
@@ -107,5 +77,3 @@ struct manual_control_setpoint_s {
 
 /* register this as object request broker structure */
 ORB_DECLARE(manual_control_setpoint);
-
-#endif

src/platforms/px4_includes.h

@@ -56,6 +56,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>