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111 lines
3.6 KiB
111 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 Nils Wenzler <wenzlern@student.ethz.ch> |
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* @author Ivan Ovinnikov <oivan@student.ethz.ch> |
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* @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 rc_channels.h |
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* Definition of the rc_channels uORB topic. |
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*/ |
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#ifndef RC_CHANNELS_H_ |
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#define RC_CHANNELS_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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enum RC_CHANNELS_STATUS |
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{ |
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UNKNOWN = 0, |
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KNOWN = 1, |
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SIGNAL = 2, |
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TIMEOUT = 3 |
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}; |
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/** |
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* This defines the mapping of the RC functions. |
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* The value assigned to the specific function corresponds to the entry of |
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* the channel array chan[]. |
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*/ |
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enum RC_CHANNELS_FUNCTION |
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{ |
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THROTTLE = 0, |
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ROLL = 1, |
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PITCH = 2, |
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YAW = 3, |
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OVERRIDE = 4, |
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FUNC_0 = 5, |
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FUNC_1 = 6, |
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FUNC_2 = 7, |
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FUNC_3 = 8, |
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FUNC_4 = 9, |
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FUNC_5 = 10, |
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FUNC_6 = 11, |
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RC_CHANNELS_FUNCTION_MAX = 12 |
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}; |
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struct rc_channels_s { |
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uint64_t timestamp; /**< In microseconds since boot time. */ |
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uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ |
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struct { |
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uint16_t mid; /**< midpoint (0). */ |
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float scaling_factor; /**< scaling factor from raw counts to 0..1 */ |
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uint16_t raw; /**< current raw value */ |
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int16_t scale; |
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float scaled; /**< Scaled */ |
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uint16_t override; |
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enum RC_CHANNELS_STATUS status; /**< status of the channel */ |
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} chan[RC_CHANNELS_FUNCTION_MAX]; |
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uint8_t chan_count; /**< maximum number of valid channels */ |
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/*String array to store the names of the functions*/ |
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char function_name[RC_CHANNELS_FUNCTION_MAX][20]; |
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uint8_t function[RC_CHANNELS_FUNCTION_MAX]; |
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uint8_t rssi; /**< Overall receive signal strength */ |
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}; /**< radio control channels. */ |
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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(rc_channels); |
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#endif
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