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77 lines
2.9 KiB
77 lines
2.9 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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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 actuator_controls.h |
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* |
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* Actuator control topics - mixer inputs. |
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* |
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* Values published to these topics are the outputs of the vehicle control |
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* system, and are expected to be mixed and used to drive the actuators |
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* (servos, speed controls, etc.) that operate the vehicle. |
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* |
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* Each topic can be published by a single controller |
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*/ |
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#ifndef TOPIC_ACTUATOR_CONTROLS_H |
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#define TOPIC_ACTUATOR_CONTROLS_H |
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#include <stdint.h> |
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#include "../uORB.h" |
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#define NUM_ACTUATOR_CONTROLS 8 |
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#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ |
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struct actuator_controls_s { |
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uint64_t timestamp; |
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float control[NUM_ACTUATOR_CONTROLS]; |
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}; |
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/* actuator control sets; this list can be expanded as more controllers emerge */ |
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ORB_DECLARE(actuator_controls_0); |
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ORB_DECLARE(actuator_controls_1); |
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ORB_DECLARE(actuator_controls_2); |
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ORB_DECLARE(actuator_controls_3); |
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/* control sets with pre-defined applications */ |
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#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) |
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/** global 'actuator output is live' control. */ |
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struct actuator_armed_s { |
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bool armed; /**< Set to true if system is armed */ |
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bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ |
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}; |
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ORB_DECLARE(actuator_armed); |
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#endif |