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91 lines
3.1 KiB
91 lines
3.1 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 manual_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_MANUAL_CONTROL_SETPOINT_H_ |
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#define TOPIC_MANUAL_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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* Defines how RC channels map to control inputs. |
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* |
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* The default mode on quadrotors and fixed wing is |
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* roll and pitch position of the right stick and |
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* throttle and yaw rate on the left stick |
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*/ |
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enum MANUAL_CONTROL_MODE |
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{ |
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MANUAL_CONTROL_MODE_DIRECT = 0, |
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MANUAL_CONTROL_MODE_ATT_YAW_RATE = 1, |
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MANUAL_CONTROL_MODE_ATT_YAW_POS = 2, |
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MANUAL_CONTROL_MODE_MULTIROTOR_SIMPLE = 3 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ |
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}; |
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struct manual_control_setpoint_s { |
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uint64_t timestamp; |
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enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */ |
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float roll; /**< ailerons roll / roll rate input */ |
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float pitch; /**< elevator / pitch / pitch rate */ |
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float yaw; /**< rudder / yaw rate / yaw */ |
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float throttle; /**< 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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}; /**< manual 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(manual_control_setpoint); |
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#endif
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