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94 lines
3.2 KiB
94 lines
3.2 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 offboard_control_setpoint.h |
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* Definition of the manual_control_setpoint uORB topic. |
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*/ |
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#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_ |
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#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_ |
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#include <stdint.h> |
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#include "../uORB.h" |
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/** |
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* @addtogroup topics |
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* @{ |
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*/ |
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/** |
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* Off-board control inputs. |
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* |
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* Typically sent by a ground control station / joystick or by |
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* some off-board controller via C or SIMULINK. |
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*/ |
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enum OFFBOARD_CONTROL_MODE |
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{ |
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OFFBOARD_CONTROL_MODE_DIRECT = 0, |
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OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1, |
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OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2, |
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OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3, |
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OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4, |
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OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5, |
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OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6, |
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OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ |
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}; |
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struct offboard_control_setpoint_s { |
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uint64_t timestamp; |
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enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ |
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bool armed; /**< Armed flag set, yes / no */ |
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float p1; /**< ailerons roll / roll rate input */ |
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float p2; /**< elevator / pitch / pitch rate */ |
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float p3; /**< rudder / yaw rate / yaw */ |
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float p4; /**< throttle / collective thrust / altitude */ |
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float override_mode_switch; |
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float aux1_cam_pan_flaps; |
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float aux2_cam_tilt; |
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float aux3_cam_zoom; |
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float aux4_cam_roll; |
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}; /**< offboard control inputs */ |
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/** |
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* @} |
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*/ |
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/* register this as object request broker structure */ |
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ORB_DECLARE(offboard_control_setpoint); |
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#endif
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