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92 lines
3.0 KiB
92 lines
3.0 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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* @author Thomas Gubler <thomasgubler@student.ethz.ch> |
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* @author Julian Oes <joes@student.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 subsystem_info.h |
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* Definition of the subsystem info topic. |
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*/ |
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#ifndef TOPIC_SUBSYSTEM_INFO_H_ |
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#define TOPIC_SUBSYSTEM_INFO_H_ |
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#include <stdint.h> |
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#include <stdbool.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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enum SUBSYSTEM_TYPE |
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{ |
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SUBSYSTEM_TYPE_GYRO = 1, |
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SUBSYSTEM_TYPE_ACC = 2, |
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SUBSYSTEM_TYPE_MAG = 4, |
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SUBSYSTEM_TYPE_ABSPRESSURE = 8, |
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SUBSYSTEM_TYPE_DIFFPRESSURE = 16, |
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SUBSYSTEM_TYPE_GPS = 32, |
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SUBSYSTEM_TYPE_OPTICALFLOW = 64, |
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SUBSYSTEM_TYPE_CVPOSITION = 128, |
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SUBSYSTEM_TYPE_LASERPOSITION = 256, |
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SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512, |
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SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024, |
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SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048, |
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SUBSYSTEM_TYPE_YAWPOSITION = 4096, |
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SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384, |
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SUBSYSTEM_TYPE_POSITIONCONTROL = 32768, |
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SUBSYSTEM_TYPE_MOTORCONTROL = 65536 |
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}; |
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/** |
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* State of individual sub systems |
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*/ |
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struct subsystem_info_s { |
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bool present; |
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bool enabled; |
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bool ok; |
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enum SUBSYSTEM_TYPE subsystem_type; |
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}; |
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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(subsystem_info); |
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#endif /* TOPIC_SUBSYSTEM_INFO_H_ */ |
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