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104 lines
3.6 KiB
104 lines
3.6 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file orb_topics.h |
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* Common sets of topics subscribed to or published by the MAVLink driver, |
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* and structures maintained by those subscriptions. |
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*/ |
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#pragma once |
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#include <uORB/uORB.h> |
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#include <uORB/topics/sensor_combined.h> |
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#include <uORB/topics/rc_channels.h> |
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#include <uORB/topics/vehicle_attitude.h> |
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#include <uORB/topics/vehicle_gps_position.h> |
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#include <uORB/topics/vehicle_global_position.h> |
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#include <uORB/topics/vehicle_status.h> |
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#include <uORB/topics/offboard_control_setpoint.h> |
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#include <uORB/topics/vehicle_command.h> |
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#include <uORB/topics/vehicle_local_position_setpoint.h> |
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#include <uORB/topics/vehicle_vicon_position.h> |
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#include <uORB/topics/vehicle_global_position_setpoint.h> |
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#include <uORB/topics/vehicle_attitude_setpoint.h> |
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#include <uORB/topics/vehicle_rates_setpoint.h> |
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#include <uORB/topics/optical_flow.h> |
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#include <uORB/topics/actuator_outputs.h> |
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#include <uORB/topics/actuator_controls_effective.h> |
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#include <uORB/topics/actuator_controls.h> |
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#include <uORB/topics/manual_control_setpoint.h> |
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#include <uORB/topics/debug_key_value.h> |
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#include <drivers/drv_rc_input.h> |
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struct mavlink_subscriptions { |
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int sensor_sub; |
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int att_sub; |
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int global_pos_sub; |
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int act_0_sub; |
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int act_1_sub; |
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int act_2_sub; |
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int act_3_sub; |
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int gps_sub; |
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int man_control_sp_sub; |
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int armed_sub; |
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int actuators_sub; |
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int local_pos_sub; |
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int spa_sub; |
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int spl_sub; |
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int spg_sub; |
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int debug_key_value; |
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int input_rc_sub; |
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int optical_flow; |
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int rates_setpoint_sub; |
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}; |
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extern struct mavlink_subscriptions mavlink_subs; |
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/** Global position */ |
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extern struct vehicle_global_position_s global_pos; |
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/** Local position */ |
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extern struct vehicle_local_position_s local_pos; |
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/** Vehicle status */ |
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extern struct vehicle_status_s v_status; |
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/** RC channels */ |
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extern struct rc_channels_s rc; |
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/** Actuator armed state */ |
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extern struct actuator_armed_s armed; |
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/** Worker thread starter */ |
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extern pthread_t uorb_receive_start(void);
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