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Merged release_v1.0.0 into master

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This commit is contained in:
Lorenz Meier
2015-05-27 15:28:41 -07:00
parent a2bb8cd766 d7547d388f
commit 4565f57468
102 changed files with 977 additions and 2266 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+1 -1
View File
@@ -290,7 +290,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
math::Matrix<3, 3> R_decl;
R_decl.identity();
struct vision_position_estimate vision {};
struct vision_position_estimate_s vision {};
/* register the perf counter */
perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");
src/modules/bottle_drop/bottle_drop.cpp
+13 -13
View File
@@ -152,7 +152,7 @@ private:
void handle_command(struct vehicle_command_s *cmd);
void answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESULT result);
void answer_command(struct vehicle_command_s *cmd, unsigned result);
/**
* Set the actuators
@@ -725,7 +725,7 @@ void
BottleDrop::handle_command(struct vehicle_command_s *cmd)
{
switch (cmd->command) {
case VEHICLE_CMD_CUSTOM_0:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
/*
* param1 and param2 set to 1: open and drop
* param1 set to 1: open
@@ -746,10 +746,10 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
mavlink_log_critical(_mavlink_fd, "closing bay");
}
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
break;
case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
case vehicle_command_s::VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
switch ((int)(cmd->param1 + 0.5f)) {
case 0:
@@ -777,10 +777,10 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
mavlink_log_info(_mavlink_fd, "got target: %8.4f, %8.4f, %8.4f", (double)_target_position.lat,
(double)_target_position.lon, (double)_target_position.alt);
map_projection_init(&ref, _target_position.lat, _target_position.lon);
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
break;
case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
case vehicle_command_s::VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
if (cmd->param1 < 0) {
@@ -813,7 +813,7 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
}
}
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
break;
default:
@@ -822,25 +822,25 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
}
void
BottleDrop::answer_command(struct vehicle_command_s *cmd, enum VEHICLE_CMD_RESULT result)
BottleDrop::answer_command(struct vehicle_command_s *cmd, unsigned result)
{
switch (result) {
case VEHICLE_CMD_RESULT_ACCEPTED:
case vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED:
break;
case VEHICLE_CMD_RESULT_DENIED:
case vehicle_command_s::VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(_mavlink_fd, "command denied: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_FAILED:
case vehicle_command_s::VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(_mavlink_fd, "command failed: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
case vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(_mavlink_fd, "command temporarily rejected: %u", cmd->command);
break;
case VEHICLE_CMD_RESULT_UNSUPPORTED:
case vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(_mavlink_fd, "command unsupported: %u", cmd->command);
break;
src/modules/commander/calibration_routines.cpp
+6 -6
View File
@@ -509,14 +509,14 @@ void calibrate_cancel_unsubscribe(int cmd_sub)
orb_unsubscribe(cmd_sub);
}
static void calibrate_answer_command(int mavlink_fd, struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result)
static void calibrate_answer_command(int mavlink_fd, struct vehicle_command_s &cmd, unsigned result)
{
switch (result) {
case VEHICLE_CMD_RESULT_ACCEPTED:
case vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED:
tune_positive(true);
break;
case VEHICLE_CMD_RESULT_DENIED:
case vehicle_command_s::VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(mavlink_fd, "command denied during calibration: %u", cmd.command);
tune_negative(true);
break;
@@ -538,18 +538,18 @@ bool calibrate_cancel_check(int mavlink_fd, int cancel_sub)
orb_copy(ORB_ID(vehicle_command), cancel_sub, &cmd);
if (cmd.command == VEHICLE_CMD_PREFLIGHT_CALIBRATION &&
if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION &&
(int)cmd.param1 == 0 &&
(int)cmd.param2 == 0 &&
(int)cmd.param3 == 0 &&
(int)cmd.param4 == 0 &&
(int)cmd.param5 == 0 &&
(int)cmd.param6 == 0) {
calibrate_answer_command(mavlink_fd, cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calibrate_answer_command(mavlink_fd, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
mavlink_log_critical(mavlink_fd, CAL_QGC_CANCELLED_MSG);
return true;
} else {
calibrate_answer_command(mavlink_fd, cmd, VEHICLE_CMD_RESULT_DENIED);
calibrate_answer_command(mavlink_fd, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
}
}
src/modules/commander/commander.cpp
+89 -82
View File
@@ -252,7 +252,7 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s &
*/
void *commander_low_prio_loop(void *arg);
void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result);
void answer_command(struct vehicle_command_s &cmd, unsigned result);
int commander_main(int argc, char *argv[])
@@ -463,11 +463,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
/* result of the command */
enum VEHICLE_CMD_RESULT cmd_result = VEHICLE_CMD_RESULT_UNSUPPORTED;
unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
/* request to set different system mode */
switch (cmd->command) {
case VEHICLE_CMD_DO_SET_MODE: {
case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: {
uint8_t base_mode = (uint8_t)cmd->param1;
uint8_t custom_main_mode = (uint8_t)cmd->param2;
@@ -528,15 +528,15 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
if (hil_ret != TRANSITION_DENIED && arming_ret != TRANSITION_DENIED && main_ret != TRANSITION_DENIED) {
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
case vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM: {
// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
// for logic state parameters
@@ -556,7 +556,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
// Refuse to arm if preflight checks have failed
if ((!status.hil_state) != vehicle_status_s::HIL_STATE_ON && !status.condition_system_sensors_initialized) {
mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed.");
cmd_result = VEHICLE_CMD_RESULT_DENIED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
@@ -566,16 +566,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
if (arming_res == TRANSITION_DENIED) {
mavlink_log_critical(mavlink_fd, "REJECTING component arm cmd");
cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
}
break;
case VEHICLE_CMD_OVERRIDE_GOTO: {
case vehicle_command_s::VEHICLE_CMD_OVERRIDE_GOTO: {
// TODO listen vehicle_command topic directly from navigator (?)
// Increase by 0.5f and rely on the integer cast
@@ -586,12 +586,12 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
if (mav_goto == 0) { // MAV_GOTO_DO_HOLD
status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
mavlink_log_critical(mavlink_fd, "Pause mission cmd");
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (mav_goto == 1) { // MAV_GOTO_DO_CONTINUE
status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
mavlink_log_critical(mavlink_fd, "Continue mission cmd");
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
@@ -607,7 +607,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
break;
/* Flight termination */
case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 0.5f) {
//XXX update state machine?
armed_local->force_failsafe = true;
@@ -649,11 +649,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
warnx("rc loss mode commanded");
}
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
case VEHICLE_CMD_DO_SET_HOME: {
case vehicle_command_s::VEHICLE_CMD_DO_SET_HOME: {
bool use_current = cmd->param1 > 0.5f;
if (use_current) {
@@ -665,10 +665,10 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
home->timestamp = hrt_absolute_time();
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
@@ -679,10 +679,10 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
home->timestamp = hrt_absolute_time();
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
if (cmd_result == VEHICLE_CMD_RESULT_ACCEPTED) {
if (cmd_result == vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED) {
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home->lat, home->lon, (double)home->alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt);
@@ -700,16 +700,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
case VEHICLE_CMD_NAV_GUIDED_ENABLE: {
case vehicle_command_s::VEHICLE_CMD_NAV_GUIDED_ENABLE: {
transition_result_t res = TRANSITION_DENIED;
static main_state_t main_state_pre_offboard =vehicle_status_s::MAIN_STATE_MANUAL;
static main_state_t main_state_pre_offboard = vehicle_status_s::MAIN_STATE_MANUAL;
if (status_local->main_state !=vehicle_status_s::MAIN_STATE_OFFBOARD) {
if (status_local->main_state != vehicle_status_s::MAIN_STATE_OFFBOARD) {
main_state_pre_offboard = status_local->main_state;
}
if (cmd->param1 > 0.5f) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_OFFBOARD);
res = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
@@ -729,35 +729,35 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
case VEHICLE_CMD_PREFLIGHT_STORAGE:
case VEHICLE_CMD_CUSTOM_0:
case VEHICLE_CMD_CUSTOM_1:
case VEHICLE_CMD_CUSTOM_2:
case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
case VEHICLE_CMD_DO_MOUNT_CONTROL:
case VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
case VEHICLE_CMD_DO_MOUNT_CONFIGURE:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_1:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_2:
case vehicle_command_s::VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
case vehicle_command_s::VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL:
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE:
/* ignore commands that handled in low prio loop */
break;
default:
/* Warn about unsupported commands, this makes sense because only commands
* to this component ID (or all) are passed by mavlink. */
answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
answer_command(*cmd, vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
break;
}
if (cmd_result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
if (cmd_result != vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED) {
/* already warned about unsupported commands in "default" case */
answer_command(*cmd, cmd_result);
}
/* send any requested ACKs */
if (cmd->confirmation > 0 && cmd_result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
if (cmd->confirmation > 0 && cmd_result != vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED) {
/* send acknowledge command */
// XXX TODO
}
@@ -835,6 +835,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_ef_time_thres = param_find("COM_EF_TIME");
param_t _param_autostart_id = param_find("SYS_AUTOSTART");
param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
param_t _param_rc_in_off = param_find("COM_RC_IN_MODE");
const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX];
main_states_str[vehicle_status_s::MAIN_STATE_MANUAL] = "MANUAL";
@@ -895,6 +896,7 @@ int commander_thread_main(int argc, char *argv[])
status.condition_landed = true; // initialize to safe value
// We want to accept RC inputs as default
status.rc_input_blocked = false;
status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
status.main_state =vehicle_status_s::MAIN_STATE_MANUAL;
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
@@ -1139,7 +1141,7 @@ int commander_thread_main(int argc, char *argv[])
}
// Run preflight check
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
@@ -1154,6 +1156,7 @@ int commander_thread_main(int argc, char *argv[])
int32_t datalink_loss_enabled = false;
int32_t datalink_loss_timeout = 10;
float rc_loss_timeout = 0.5;
int32_t rc_in_off = 0;
int32_t datalink_regain_timeout = 0;
/* Thresholds for engine failure detection */
@@ -1240,6 +1243,8 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_rc_loss_timeout, &rc_loss_timeout);
param_get(_param_rc_in_off, &rc_in_off);
status.rc_input_mode = rc_in_off;
param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
@@ -1312,7 +1317,8 @@ int commander_thread_main(int argc, char *argv[])
}
/* provide RC and sensor status feedback to the user */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -1485,20 +1491,20 @@ int commander_thread_main(int argc, char *argv[])
/* Update land detector */
orb_check(land_detector_sub, &updated);
if(updated) {
if (updated) {
orb_copy(ORB_ID(vehicle_land_detected), land_detector_sub, &land_detector);
}
if (status.condition_local_altitude_valid) {
if (updated && status.condition_local_altitude_valid) {
if (status.condition_landed != land_detector.landed) {
status.condition_landed = land_detector.landed;
status_changed = true;
if (status.condition_landed) {
mavlink_log_critical(mavlink_fd, "LANDED MODE");
mavlink_log_critical(mavlink_fd, "LANDING DETECTED");
} else {
mavlink_log_critical(mavlink_fd, "IN AIR MODE");
mavlink_log_critical(mavlink_fd, "TAKEOFF DETECTED");
}
}
}
@@ -1714,12 +1720,12 @@ int commander_thread_main(int argc, char *argv[])
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
/* RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;
mavlink_log_critical(mavlink_fd, "detected RC signal first time");
mavlink_log_info(mavlink_fd, "Detected RC signal first time");
status_changed = true;
} else {
@@ -2566,30 +2572,30 @@ print_reject_arm(const char *msg)
}
}
void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT result)
void answer_command(struct vehicle_command_s &cmd, unsigned result)
{
switch (result) {
case VEHICLE_CMD_RESULT_ACCEPTED:
case vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED:
tune_positive(true);
break;
case VEHICLE_CMD_RESULT_DENIED:
case vehicle_command_s::VEHICLE_CMD_RESULT_DENIED:
mavlink_log_critical(mavlink_fd, "command denied: %u", cmd.command);
tune_negative(true);
break;
case VEHICLE_CMD_RESULT_FAILED:
case vehicle_command_s::VEHICLE_CMD_RESULT_FAILED:
mavlink_log_critical(mavlink_fd, "command failed: %u", cmd.command);
tune_negative(true);
break;
case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
case vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
/* this needs additional hints to the user - so let other messages pass and be spoken */
mavlink_log_critical(mavlink_fd, "command temporarily rejected: %u", cmd.command);
tune_negative(true);
break;
case VEHICLE_CMD_RESULT_UNSUPPORTED:
case vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED:
mavlink_log_critical(mavlink_fd, "command unsupported: %u", cmd.command);
tune_negative(true);
break;
@@ -2655,49 +2661,49 @@ void *commander_low_prio_loop(void *arg)
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* ignore commands the high-prio loop handles */
if (cmd.command == VEHICLE_CMD_DO_SET_MODE ||
cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM ||
cmd.command == VEHICLE_CMD_NAV_TAKEOFF ||
cmd.command == VEHICLE_CMD_DO_SET_SERVO) {
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_MODE ||
cmd.command == vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM ||
cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF ||
cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_SERVO) {
continue;
}
/* only handle low-priority commands here */
switch (cmd.command) {
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (is_safe(&status, &safety, &armed)) {
if (((int)(cmd.param1)) == 1) {
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
usleep(100000);
/* reboot */
px4_systemreset(false);
} else if (((int)(cmd.param1)) == 3) {
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
usleep(100000);
/* reboot to bootloader */
px4_systemreset(true);
} else {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
}
} else {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
}
break;
case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
int calib_ret = ERROR;
/* try to go to INIT/PREFLIGHT arming state */
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_INIT, &armed,
false /* fRunPreArmChecks */, mavlink_fd)) {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
break;
} else {
status.calibration_enabled = true;
@@ -2705,21 +2711,21 @@ void *commander_low_prio_loop(void *arg)
if ((int)(cmd.param1) == 1) {
/* gyro calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_gyro_calibration(mavlink_fd);
} else if ((int)(cmd.param2) == 1) {
/* magnetometer calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_mag_calibration(mavlink_fd);
} else if ((int)(cmd.param3) == 1) {
/* zero-altitude pressure calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
} else if ((int)(cmd.param4) == 1) {
/* RC calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
/* disable RC control input completely */
status.rc_input_blocked = true;
calib_ret = OK;
@@ -2727,31 +2733,31 @@ void *commander_low_prio_loop(void *arg)
} else if ((int)(cmd.param4) == 2) {
/* RC trim calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_trim_calibration(mavlink_fd);
} else if ((int)(cmd.param5) == 1) {
/* accelerometer calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_accel_calibration(mavlink_fd);
} else if ((int)(cmd.param5) == 2) {
// board offset calibration
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_level_calibration(mavlink_fd);
} else if ((int)(cmd.param6) == 1) {
/* airspeed calibration */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_airspeed_calibration(mavlink_fd);
} else if ((int)(cmd.param7) == 1) {
/* do esc calibration */
answer_command(cmd,VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_esc_calibration(mavlink_fd, &armed);
} else if ((int)(cmd.param4) == 0) {
/* RC calibration ended - have we been in one worth confirming? */
if (status.rc_input_blocked) {
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
/* enable RC control input */
status.rc_input_blocked = false;
mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
@@ -2778,7 +2784,8 @@ void *commander_low_prio_loop(void *arg)
checkAirspeed = true;
}
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);
@@ -2789,14 +2796,14 @@ void *commander_low_prio_loop(void *arg)
break;
}
case VEHICLE_CMD_PREFLIGHT_STORAGE: {
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE: {
if (((int)(cmd.param1)) == 0) {
int ret = param_load_default();
if (ret == OK) {
mavlink_log_info(mavlink_fd, "settings loaded");
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else {
mavlink_log_critical(mavlink_fd, "settings load ERROR");
@@ -2810,7 +2817,7 @@ void *commander_low_prio_loop(void *arg)
mavlink_log_critical(mavlink_fd, "ERROR: %s", strerror(ret));
}
answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
}
} else if (((int)(cmd.param1)) == 1) {
@@ -2824,7 +2831,7 @@ void *commander_low_prio_loop(void *arg)
}
/* do not spam MAVLink, but provide the answer / green led mechanism */
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else {
mavlink_log_critical(mavlink_fd, "settings save error");
@@ -2838,14 +2845,14 @@ void *commander_low_prio_loop(void *arg)
mavlink_log_critical(mavlink_fd, "ERROR: %s", strerror(ret));
}
answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
}
}
break;
}
case VEHICLE_CMD_START_RX_PAIR:
case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
/* handled in the IO driver */
break;
@@ -2855,8 +2862,8 @@ void *commander_low_prio_loop(void *arg)
}
/* send any requested ACKs */
if (cmd.confirmation > 0 && cmd.command != VEHICLE_CMD_DO_SET_MODE
&& cmd.command != VEHICLE_CMD_COMPONENT_ARM_DISARM) {
if (cmd.confirmation > 0 && cmd.command != vehicle_command_s::VEHICLE_CMD_DO_SET_MODE
&& cmd.command != vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM) {
/* send acknowledge command */
// XXX TODO
}
src/modules/commander/commander_params.c
+14
View File
@@ -195,3 +195,17 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
* @max 1
*/
PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
/**
* RC control input mode
*
* The default value of 0 requires a valid RC transmitter setup.
* Setting this to 1 disables RC input handling and the associated checks. A value of
* 2 will generate RC control data from manual input received via MAVLink instead
* of directly forwarding the manual input data.
*
* @group Commander
* @min 0
* @max 2
*/
PARAM_DEFINE_INT32(COM_RC_IN_MODE, 0);
src/modules/commander/state_machine_helper.cpp
+1 -1
View File
@@ -742,5 +742,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
checkAirspeed = true;
}
return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status->circuit_breaker_engaged_gpsfailure_check, true);
return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
}
src/modules/dataman/dataman.h
+4
View File
@@ -62,7 +62,11 @@ extern "C" {
/** The maximum number of instances for each item type */
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
#ifdef __cplusplus
DM_KEY_FENCE_POINTS_MAX = fence_s::GEOFENCE_MAX_VERTICES,
#else
DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
#endif
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+1 -1
View File
@@ -399,7 +399,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
}
}
struct estimator_status_report rep;
struct estimator_status_s rep;
memset(&rep, 0, sizeof(rep));
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+10 -10
View File
@@ -399,7 +399,7 @@ private:
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
tecs_mode mode = TECS_MODE_NORMAL,
unsigned mode = tecs_status_s::TECS_MODE_NORMAL,
bool pitch_max_special = false);
};
@@ -1093,7 +1093,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
0.0f, throttle_max, throttle_land,
false, land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min),
_global_pos.alt, ground_speed,
land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
land_motor_lim ? tecs_status_s::TECS_MODE_LAND_THROTTLELIM : tecs_status_s::TECS_MODE_LAND);
if (!land_noreturn_vertical) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring");
@@ -1198,7 +1198,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::radians(10.0f)),
_global_pos.alt,
ground_speed,
TECS_MODE_TAKEOFF,
tecs_status_s::TECS_MODE_TAKEOFF,
takeoff_pitch_max_deg != _parameters.pitch_limit_max);
/* limit roll motion to ensure enough lift */
@@ -1303,7 +1303,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed,
TECS_MODE_NORMAL);
tecs_status_s::TECS_MODE_NORMAL);
} else {
_control_mode_current = FW_POSCTRL_MODE_OTHER;
@@ -1521,7 +1521,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
tecs_mode mode, bool pitch_max_special)
unsigned mode, bool pitch_max_special)
{
if (_mTecs.getEnabled()) {
/* Using mtecs library: prepare arguments for mtecs call */
@@ -1559,7 +1559,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
}
/* No underspeed protection in landing mode */
_tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM));
_tecs.set_detect_underspeed_enabled(!(mode == tecs_status_s::TECS_MODE_LAND || mode == tecs_status_s::TECS_MODE_LAND_THROTTLELIM));
/* Using tecs library */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
@@ -1577,16 +1577,16 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
switch (s.mode) {
case TECS::ECL_TECS_MODE_NORMAL:
t.mode = TECS_MODE_NORMAL;
t.mode = tecs_status_s::TECS_MODE_NORMAL;
break;
case TECS::ECL_TECS_MODE_UNDERSPEED:
t.mode = TECS_MODE_UNDERSPEED;
t.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
break;
case TECS::ECL_TECS_MODE_BAD_DESCENT:
t.mode = TECS_MODE_BAD_DESCENT;
t.mode = tecs_status_s::TECS_MODE_BAD_DESCENT;
break;
case TECS::ECL_TECS_MODE_CLIMBOUT:
t.mode = TECS_MODE_CLIMBOUT;
t.mode = tecs_status_s::TECS_MODE_CLIMBOUT;
break;
}
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+9 -9
View File
@@ -83,7 +83,7 @@ mTecs::~mTecs()
}
int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
float airspeedSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
@@ -118,7 +118,7 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
}
int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
float airspeedSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
@@ -154,7 +154,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
}
int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride)
float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
@@ -200,23 +200,23 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
}
/* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */
if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
mode = TECS_MODE_UNDERSPEED;
if (mode != tecs_status_s::TECS_MODE_LAND && mode != tecs_status_s::TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
mode = tecs_status_s::TECS_MODE_UNDERSPEED;
}
/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
if (mode == TECS_MODE_TAKEOFF) {
if (mode == tecs_status_s::TECS_MODE_TAKEOFF) {
outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle;
outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
} else if (mode == TECS_MODE_LAND) {
} else if (mode == tecs_status_s::TECS_MODE_LAND) {
// only limit pitch but do not limit throttle
outputLimiterPitch = &_BlockOutputLimiterLandPitch;
} else if (mode == TECS_MODE_LAND_THROTTLELIM) {
} else if (mode == tecs_status_s::TECS_MODE_LAND_THROTTLELIM) {
outputLimiterThrottle = &_BlockOutputLimiterLandThrottle;
outputLimiterPitch = &_BlockOutputLimiterLandPitch;
} else if (mode == TECS_MODE_UNDERSPEED) {
} else if (mode == tecs_status_s::TECS_MODE_UNDERSPEED) {
outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle;
outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch;
}
src/modules/fw_pos_control_l1/mtecs/mTecs.h
+3 -3
View File
@@ -65,19 +65,19 @@ public:
* Control in altitude setpoint and speed mode
*/
int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
float airspeedSp, unsigned mode, LimitOverride limitOverride);
/*
* Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode
*/
int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
float airspeedSp, unsigned mode, LimitOverride limitOverride);
/*
* Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
*/
int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride);
/*
* Reset all integrators
src/modules/land_detector/LandDetector.h
+12 -7
View File
@@ -52,19 +52,24 @@ public:
virtual ~LandDetector();
/**
* @return true if this task is currently running
**/
* @return true if this task is currently running
**/
inline bool isRunning() const {return _taskIsRunning;}
/**
* @brief Tells the Land Detector task that it should exit
**/
* @return the current landed state
*/
bool isLanded() { return _landDetected.landed; }
/**
* @brief Tells the Land Detector task that it should exit
**/
void shutdown();
/**
* @brief Blocking function that should be called from it's own task thread. This method will
* run the underlying algorithm at the desired update rate and publish if the landing state changes.
**/
* @brief Blocking function that should be called from it's own task thread. This method will
* run the underlying algorithm at the desired update rate and publish if the landing state changes.
**/
void start();
protected:
src/modules/land_detector/land_detector_main.cpp
+1 -1
View File
@@ -201,7 +201,7 @@ int land_detector_main(int argc, char *argv[])
if (land_detector_task) {
if (land_detector_task->isRunning()) {
warnx("running (%s)", _currentMode);
warnx("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");
} else {
errx(1, "exists, but not running (%s)", _currentMode);
src/modules/land_detector/land_detector_params.c
+1 -1
View File
@@ -83,7 +83,7 @@ PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 0.20f);
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 0.40f);
/**
* Fixedwing max climb rate
src/modules/mavlink/mavlink_main.cpp
+3
View File
@@ -131,6 +131,7 @@ Mavlink::Mavlink() :
_mavlink_fd(-1),
_task_running(false),
_hil_enabled(false),
_generate_rc(false),
_use_hil_gps(false),
_forward_externalsp(false),
_is_usb_uart(false),
@@ -1547,6 +1548,8 @@ Mavlink::task_main(int argc, char *argv[])
if (status_sub->update(&status_time, &status)) {
/* switch HIL mode if required */
set_hil_enabled(status.hil_state == vehicle_status_s::HIL_STATE_ON);
set_manual_input_mode_generation(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_GENERATED);
}
/* check for requested subscriptions */
src/modules/mavlink/mavlink_main.h
+18
View File
@@ -180,6 +180,23 @@ public:
*/
int set_hil_enabled(bool hil_enabled);
/**
* Set manual input generation mode
*
* Set to true to generate RC_INPUT messages on the system bus from
* MAVLink messages.
*
* @param generation_enabled If set to true, generate RC_INPUT messages
*/
void set_manual_input_mode_generation(bool generation_enabled) { _generate_rc = generation_enabled; }
/**
* Get the manual input generation mode
*
* @return true if manual inputs should generate RC data
*/
bool get_manual_input_mode_generation() { return _generate_rc; }
void send_message(const uint8_t msgid, const void *msg, uint8_t component_ID = 0);
/**
@@ -299,6 +316,7 @@ private:
/* states */
bool _hil_enabled; /**< Hardware In the Loop mode */
bool _generate_rc; /**< Generate RC messages from manual input MAVLink messages */
bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
bool _forward_externalsp; /**< Forward external setpoint messages to controllers directly if in offboard mode */
bool _is_usb_uart; /**< Port is USB */
src/modules/mavlink/mavlink_receiver.cpp
+73 -15
View File
@@ -56,6 +56,8 @@
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_range_finder.h>
#include <drivers/drv_rc_input.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
@@ -307,7 +309,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
vcmd.param6 = cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
// XXX do proper translation
vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
@@ -364,7 +366,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
vcmd.param7 = cmd_mavlink.z;
// XXX do proper translation
vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
@@ -508,7 +510,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
vcmd.param5 = 0;
vcmd.param6 = 0;
vcmd.param7 = 0;
vcmd.command = VEHICLE_CMD_DO_SET_MODE;
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
vcmd.target_system = new_mode.target_system;
vcmd.target_component = MAV_COMP_ID_ALL;
vcmd.source_system = msg->sysid;
@@ -779,7 +781,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
struct vision_position_estimate vision_position;
struct vision_position_estimate_s vision_position;
memset(&vision_position, 0, sizeof(vision_position));
// Use the component ID to identify the vision sensor
@@ -957,28 +959,84 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
}
}
static switch_pos_t decode_switch_pos(uint16_t buttons, int sw) {
return (buttons >> (sw * 2)) & 3;
}
static int decode_switch_pos_n(uint16_t buttons, int sw) {
if (buttons & (1 << sw)) {
return 1;
} else {
return 0;
}
}
void
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
{
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
// Check target
if (man.target != 0 && man.target != _mavlink->get_system_id()) {
return;
}
manual.timestamp = hrt_absolute_time();
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
if (_mavlink->get_manual_input_mode_generation()) {
// warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
struct rc_input_values rc = {};
rc.timestamp_publication = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp_publication;
if (_manual_pub == nullptr) {
_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
rc.channel_count = 8;
rc.rc_failsafe = false;
rc.rc_lost = false;
rc.rc_lost_frame_count = 0;
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = RC_INPUT_SOURCE_MAVLINK;
rc.rssi = RC_INPUT_RSSI_MAX;
rc.values[0] = man.x / 2 + 1500;
rc.values[1] = man.y / 2 + 1500;
rc.values[2] = man.r / 2 + 1500;
rc.values[3] = man.z + 1000;
rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;
rc.values[6] = decode_switch_pos_n(man.buttons, 2) * 1000 + 1000;
rc.values[7] = decode_switch_pos_n(man.buttons, 3) * 1000 + 1000;
rc.values[8] = decode_switch_pos_n(man.buttons, 4) * 1000 + 1000;
rc.values[9] = decode_switch_pos_n(man.buttons, 5) * 1000 + 1000;
if (_rc_pub == nullptr) {
_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);
} else {
orb_publish(ORB_ID(input_rc), _rc_pub, &rc);
}
} else {
orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
struct manual_control_setpoint_s manual = {};
manual.timestamp = hrt_absolute_time();
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.mode_switch = decode_switch_pos(man.buttons, 0);
manual.return_switch = decode_switch_pos(man.buttons, 1);
manual.posctl_switch = decode_switch_pos(man.buttons, 2);
manual.loiter_switch = decode_switch_pos(man.buttons, 3);
manual.acro_switch = decode_switch_pos(man.buttons, 4);
manual.offboard_switch = decode_switch_pos(man.buttons, 5);
if (_manual_pub < 0) {
_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
} else {
orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
}
}
}
src/modules/navigator/geofence.cpp
+2 -2
View File
@@ -259,8 +259,8 @@ Geofence::valid()
}
// Otherwise
if ((_verticesCount < 4) || (_verticesCount > GEOFENCE_MAX_VERTICES)) {
warnx("Fence must have at least 3 sides and not more than %d", GEOFENCE_MAX_VERTICES - 1);
if ((_verticesCount < 4) || (_verticesCount > fence_s::GEOFENCE_MAX_VERTICES)) {
warnx("Fence must have at least 3 sides and not more than %d", fence_s::GEOFENCE_MAX_VERTICES - 1);
return false;
}
src/modules/navigator/mission_feasibility_checker.cpp
+3 -3
View File
@@ -127,7 +127,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
}
if (!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) {
mavlink_log_critical(_mavlink_fd, "Geofence violation waypoint %d", i);
mavlink_log_critical(_mavlink_fd, "Geofence violation for waypoint %d", i);
return false;
}
}
@@ -177,7 +177,7 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
if (dm_read(dm_current, i, &missionitem, len) != len) {
// not supposed to happen unless the datamanager can't access the SD card, etc.
mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Cannot access mission from SD card");
mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Cannot access SD card");
return false;
}
@@ -197,7 +197,7 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
return false;
}
}
mavlink_log_critical(_mavlink_fd, "Mission is valid!");
mavlink_log_info(_mavlink_fd, "Mission ready.");
return true;
}
src/modules/position_estimator_inav/position_estimator_inav_main.c
+1 -1
View File
@@ -325,7 +325,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
memset(&local_pos, 0, sizeof(local_pos));
struct optical_flow_s flow;
memset(&flow, 0, sizeof(flow));
struct vision_position_estimate vision;
struct vision_position_estimate_s vision;
memset(&vision, 0, sizeof(vision));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
src/modules/px4iofirmware/mixer.cpp
+3 -2
View File
@@ -234,7 +234,7 @@ mixer_tick(void)
in_mixer = false;
/* the pwm limit call takes care of out of band errors */
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
pwm_limit_calc(should_arm, mixed, r_setup_pwm_reverse, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
r_page_servos[i] = 0;
@@ -272,8 +272,9 @@ mixer_tick(void)
if (mixer_servos_armed && should_arm) {
/* update the servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
up_pwm_servo_set(i, r_page_servos[i]);
}
/* set S.BUS1 or S.BUS2 outputs */
src/modules/px4iofirmware/protocol.h
+2
View File
@@ -233,6 +233,8 @@ enum { /* DSM bind states */
#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */
#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
#define PX4IO_P_SETUP_PWM_REVERSE 15 /**< Bitmask to reverse PWM channels 1-8 */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
src/modules/px4iofirmware/px4io.h
+2
View File
@@ -111,6 +111,8 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
#endif
#define r_setup_rc_thr_failsafe r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US]
#define r_setup_pwm_reverse r_page_setup[PX4IO_P_SETUP_PWM_REVERSE]
#define r_control_values (&r_page_controls[0])
/*
src/modules/px4iofirmware/registers.c
+5
View File
@@ -173,6 +173,7 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_REBOOT_BL] = 0,
[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0,
[PX4IO_P_SETUP_PWM_REVERSE] = 0,
};
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
@@ -622,6 +623,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
}
break;
case PX4IO_P_SETUP_PWM_REVERSE:
r_page_setup[PX4IO_P_SETUP_PWM_REVERSE] = value;
break;
default:
return -1;
}
src/modules/sdlog2/sdlog2.c
+2 -2
View File
@@ -1072,7 +1072,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet;
struct vehicle_vicon_position_s vicon_pos;
struct vision_position_estimate vision_pos;
struct vision_position_estimate_s vision_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
struct differential_pressure_s diff_pres;
@@ -1082,7 +1082,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct battery_status_s battery;
struct telemetry_status_s telemetry;
struct distance_sensor_s distance_sensor;
struct estimator_status_report estimator_status;
struct estimator_status_s estimator_status;
struct tecs_status_s tecs_status;
struct system_power_s system_power;
struct servorail_status_s servorail_status;
src/modules/systemlib/pwm_limit/pwm_limit.c
+18 -3
View File
@@ -53,7 +53,9 @@ void pwm_limit_init(pwm_limit_t *limit)
return;
}
void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t reverse_mask,
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
{
/* first evaluate state changes */
@@ -134,7 +136,13 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
ramp_min_pwm = min_pwm[i];
}
effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
float control_value = output[i];
if (reverse_mask & (1 << i)) {
control_value = -1.0f * control_value;
}
effective_pwm[i] = control_value * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < ramp_min_pwm) {
@@ -147,7 +155,14 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
break;
case PWM_LIMIT_STATE_ON:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
float control_value = output[i];
if (reverse_mask & (1 << i)) {
control_value = -1.0f * control_value;
}
effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < min_pwm[i]) {
src/modules/systemlib/pwm_limit/pwm_limit.h
+1 -1
View File
@@ -72,7 +72,7 @@ typedef struct {
__EXPORT void pwm_limit_init(pwm_limit_t *limit);
__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm,
__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t reverse_mask, const uint16_t *disarmed_pwm,
const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
__END_DECLS
src/modules/systemlib/rc_check.c
+76 -34
View File
@@ -50,29 +50,72 @@
#include <mavlink/mavlink_log.h>
#include <drivers/drv_rc_input.h>
int rc_calibration_check(int mavlink_fd) {
#define RC_INPUT_MAP_UNMAPPED 0
int rc_calibration_check(int mavlink_fd)
{
char nbuf[20];
param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max,
_parameter_handles_rev, _parameter_handles_dz;
_parameter_handles_rev, _parameter_handles_dz;
float param_min, param_max, param_trim, param_rev, param_dz;
unsigned map_fail_count = 0;
const char *rc_map_mandatory[] = { "RC_MAP_MODE_SW",
/* needs discussion if this should be mandatory "RC_MAP_POSCTL_SW"*/
0 /* end marker */
};
unsigned j = 0;
/* first check channel mappings */
/* check which map param applies */
// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
// mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
// /* give system time to flush error message in case there are more */
// usleep(100000);
// count++;
// }
while (rc_map_mandatory[j] != 0) {
int channel_fail_count = 0;
param_t map_parm = param_find(rc_map_mandatory[j]);
for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
if (map_parm == PARAM_INVALID) {
mavlink_log_critical(mavlink_fd, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]);
/* give system time to flush error message in case there are more */
usleep(100000);
map_fail_count++;
j++;
continue;
}
int32_t mapping;
param_get(map_parm, &mapping);
if (mapping > RC_INPUT_MAX_CHANNELS) {
mavlink_log_critical(mavlink_fd, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]);
/* give system time to flush error message in case there are more */
usleep(100000);
map_fail_count++;
}
if (mapping == 0) {
mavlink_log_critical(mavlink_fd, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]);
/* give system time to flush error message in case there are more */
usleep(100000);
map_fail_count++;
}
j++;
}
unsigned total_fail_count = 0;
unsigned channels_failed = 0;
for (unsigned i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
/* should the channel be enabled? */
uint8_t count = 0;
/* initialize values to values failing the check */
float param_min = 0.0f;
float param_max = 0.0f;
float param_trim = 0.0f;
float param_rev = 0.0f;
float param_dz = RC_INPUT_MAX_DEADZONE_US * 2.0f;
/* min values */
sprintf(nbuf, "RC%d_MIN", i + 1);
_parameter_handles_min = param_find(nbuf);
@@ -99,56 +142,55 @@ int rc_calibration_check(int mavlink_fd) {
param_get(_parameter_handles_dz, &param_dz);
/* assert min..center..max ordering */
if (param_min < 500) {
if (param_min < RC_INPUT_LOWEST_MIN_US) {
count++;
mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MIN < 500", i+1);
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US);
/* give system time to flush error message in case there are more */
usleep(100000);
}
if (param_max > 2500) {
if (param_max > RC_INPUT_HIGHEST_MAX_US) {
count++;
mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MAX > 2500", i+1);
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US);
/* give system time to flush error message in case there are more */
usleep(100000);
}
if (param_trim < param_min) {
count++;
mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min);
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min);
/* give system time to flush error message in case there are more */
usleep(100000);
}
if (param_trim > param_max) {
count++;
mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max);
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max);
/* give system time to flush error message in case there are more */
usleep(100000);
}
/* assert deadzone is sane */
if (param_dz > 500) {
mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_DZ > 500", i+1);
if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
mavlink_log_critical(mavlink_fd, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US);
/* give system time to flush error message in case there are more */
usleep(100000);
count++;
}
/* check which map param applies */
// if (map_by_channel[i] >= MAX_CONTROL_CHANNELS) {
// mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAP >= # CHANS", i+1);
// /* give system time to flush error message in case there are more */
// usleep(100000);
// count++;
// }
total_fail_count += count;
/* sanity checks pass, enable channel */
if (count) {
mavlink_log_critical(mavlink_fd, "#audio ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
usleep(100000);
channels_failed++;
}
channel_fail_count += count;
}
return channel_fail_count;
if (channels_failed) {
sleep(2);
mavlink_and_console_log_critical(mavlink_fd, "%d config error%s for %d RC channel%s.", total_fail_count,
(total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
usleep(100000);
}
return total_fail_count + map_fail_count;
}
src/modules/uORB/objects_common.cpp
+3 -12
View File
@@ -130,9 +130,6 @@ ORB_DEFINE(vehicle_control_mode, struct vehicle_control_mode_s);
#include "topics/vehicle_local_position_setpoint.h"
ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
#include "topics/vehicle_bodyframe_speed_setpoint.h"
ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s);
#include "topics/position_setpoint_triplet.h"
ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
@@ -160,9 +157,6 @@ ORB_DEFINE(fw_virtual_attitude_setpoint, struct vehicle_attitude_setpoint_s);
#include "topics/manual_control_setpoint.h"
ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
#include "topics/vehicle_control_debug.h"
ORB_DEFINE(vehicle_control_debug, struct vehicle_control_debug_s);
#include "topics/offboard_control_mode.h"
ORB_DEFINE(offboard_control_mode, struct offboard_control_mode_s);
@@ -172,9 +166,6 @@ ORB_DEFINE(optical_flow, struct optical_flow_s);
#include "topics/filtered_bottom_flow.h"
ORB_DEFINE(filtered_bottom_flow, struct filtered_bottom_flow_s);
#include "topics/omnidirectional_flow.h"
ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
#include "topics/airspeed.h"
ORB_DEFINE(airspeed, struct airspeed_s);
@@ -234,10 +225,10 @@ ORB_DEFINE(esc_status, struct esc_status_s);
ORB_DEFINE(encoders, struct encoders_s);
#include "topics/estimator_status.h"
ORB_DEFINE(estimator_status, struct estimator_status_report);
ORB_DEFINE(estimator_status, struct estimator_status_s);
#include "topics/vision_position_estimate.h"
ORB_DEFINE(vision_position_estimate, struct vision_position_estimate);
ORB_DEFINE(vision_position_estimate, struct vision_position_estimate_s);
#include "topics/vehicle_force_setpoint.h"
ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s);
@@ -258,4 +249,4 @@ ORB_DEFINE(time_offset, struct time_offset_s);
ORB_DEFINE(mc_att_ctrl_status, struct mc_att_ctrl_status_s);
#include "topics/distance_sensor.h"
ORB_DEFINE(distance_sensor, struct distance_sensor_s);
ORB_DEFINE(distance_sensor, struct distance_sensor_s);
src/modules/uORB/topics/actuator_direct.h
-69
View File
@@ -1,69 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file actuator_direct.h
*
* Actuator direct values.
*
* Values published to this topic are the direct actuator values which
* should be passed to actuators, bypassing mixing
*/
#ifndef TOPIC_ACTUATOR_DIRECT_H
#define TOPIC_ACTUATOR_DIRECT_H
#include <stdint.h>
#include "../uORB.h"
#define NUM_ACTUATORS_DIRECT 16
/**
* @addtogroup topics
* @{
*/
struct actuator_direct_s {
uint64_t timestamp; /**< timestamp in us since system boot */
float values[NUM_ACTUATORS_DIRECT]; /**< actuator values, from -1 to 1 */
unsigned nvalues; /**< number of valid values */
};
/**
* @}
*/
/* actuator direct ORB */
ORB_DECLARE(actuator_direct);
#endif // TOPIC_ACTUATOR_DIRECT_H
src/modules/uORB/topics/actuator_outputs.h
-73
View File
@@ -1,73 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file actuator_outputs.h
*
* Actuator output values.
*
* Values published to these topics are the outputs of the control mixing
* system as sent to the actuators (servos, motors, etc.) that operate
* the vehicle.
*
* Each topic can be published by a single output driver.
*/
#ifndef TOPIC_ACTUATOR_OUTPUTS_H
#define TOPIC_ACTUATOR_OUTPUTS_H
#include <stdint.h>
#include "../uORB.h"
#define NUM_ACTUATOR_OUTPUTS 16
#define NUM_ACTUATOR_OUTPUT_GROUPS 4 /**< for sanity checking */
/**
* @addtogroup topics
* @{
*/
struct actuator_outputs_s {
uint64_t timestamp; /**< output timestamp in us since system boot */
float output[NUM_ACTUATOR_OUTPUTS]; /**< output data, in natural output units */
unsigned noutputs; /**< valid outputs */
};
/**
* @}
*/
/* actuator output sets; this list can be expanded as more drivers emerge */
ORB_DECLARE(actuator_outputs);
#endif
src/modules/uORB/topics/airspeed.h
-68
View File
@@ -1,68 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file airspeed.h
*
* Definition of airspeed topic
*/
#ifndef TOPIC_AIRSPEED_H_
#define TOPIC_AIRSPEED_H_
#include <platforms/px4_defines.h>
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Airspeed
*/
struct airspeed_s {
uint64_t timestamp; /**< microseconds since system boot, needed to integrate */
float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */
float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */
float air_temperature_celsius; /**< air temperature in degrees celsius, -1000 if unknown */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(airspeed);
#endif
src/modules/uORB/topics/battery_status.h
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/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file battery_status.h
*
* Definition of the battery status uORB topic.
*/
#ifndef BATTERY_STATUS_H_
#define BATTERY_STATUS_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Battery voltages and status
*/
struct battery_status_s {
uint64_t timestamp; /**< microseconds since system boot, needed to integrate */
float voltage_v; /**< Battery voltage in volts, 0 if unknown */
float voltage_filtered_v; /**< Battery voltage in volts, filtered, 0 if unknown */
float current_a; /**< Battery current in amperes, -1 if unknown */
float discharged_mah; /**< Discharged amount in mAh, -1 if unknown */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(battery_status);
#endif
src/modules/uORB/topics/debug_key_value.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file debug_key_value.h
* Definition of the debug named value uORB topic. Allows to send a 10-char key
* with a float as value.
*/
#ifndef TOPIC_DEBUG_KEY_VALUE_H_
#define TOPIC_DEBUG_KEY_VALUE_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Key/value pair for debugging
*/
struct debug_key_value_s {
/*
* Actual data, this is specific to the type of data which is stored in this struct
* A line containing L0GME will be added by the Python logging code generator to the
* logged dataset.
*/
uint32_t timestamp_ms; /**< in milliseconds since system start */
char key[10]; /**< max. 10 characters as key / name */
float value; /**< the value to send as debug output */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(debug_key_value);
#endif
src/modules/uORB/topics/differential_pressure.h
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/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file differential_pressure.h
*
* Definition of differential pressure topic
*/
#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_
#define TOPIC_DIFFERENTIAL_PRESSURE_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Differential pressure.
*/
struct differential_pressure_s {
uint64_t timestamp; /**< Microseconds since system boot, needed to integrate */
uint64_t error_count; /**< Number of errors detected by driver */
float differential_pressure_raw_pa; /**< Raw differential pressure reading (may be negative) */
float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */
float max_differential_pressure_pa; /**< Maximum differential pressure reading */
float temperature; /**< Temperature provided by sensor, -1000.0f if unknown */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(differential_pressure);
#endif
src/modules/uORB/topics/encoders.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file encoders.h
*
* Encoders topic.
*
*/
#ifndef TOPIC_ENCODERS_H
#define TOPIC_ENCODERS_H
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
#define NUM_ENCODERS 4
struct encoders_s {
uint64_t timestamp;
int64_t counts[NUM_ENCODERS]; // counts of encoder
float velocity[NUM_ENCODERS]; // counts of encoder/ second
};
/**
* @}
*/
ORB_DECLARE(encoders);
#endif
src/modules/uORB/topics/esc_status.h
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/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: @author Marco Bauer <marco@wtns.de>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file esc_status.h
* Definition of the esc_status uORB topic.
*
* Published the state machine and the system status bitfields
* (see SYS_STATUS mavlink message), published only by commander app.
*
* All apps should write to subsystem_info:
*
* (any app) --> subsystem_info (published) --> (commander app state machine) --> esc_status --> (mavlink app)
*/
#ifndef ESC_STATUS_H_
#define ESC_STATUS_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* The number of ESCs supported.
* Current (Q2/2013) we support 8 ESCs,
*/
#define CONNECTED_ESC_MAX 8
enum ESC_VENDOR {
ESC_VENDOR_GENERIC = 0, /**< generic ESC */
ESC_VENDOR_MIKROKOPTER, /**< Mikrokopter */
ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */
};
enum ESC_CONNECTION_TYPE {
ESC_CONNECTION_TYPE_PPM = 0, /**< Traditional PPM ESC */
ESC_CONNECTION_TYPE_SERIAL, /**< Serial Bus connected ESC */
ESC_CONNECTION_TYPE_ONESHOOT, /**< One Shoot PPM */
ESC_CONNECTION_TYPE_I2C, /**< I2C */
ESC_CONNECTION_TYPE_CAN /**< CAN-Bus */
};
/**
* @addtogroup topics
* @{
*/
/**
* Electronic speed controller status.
* Unsupported float fields should be assigned NaN.
*/
struct esc_status_s {
/* use of a counter and timestamp recommended (but not necessary) */
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
uint8_t esc_count; /**< number of connected ESCs */
enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */
struct {
enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */
uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */
int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */
float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */
float esc_current; /**< Current measured from current ESC [A] - if supported */
float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */
float esc_setpoint; /**< setpoint of current ESC */
uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */
uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
uint16_t esc_version; /**< Version of current ESC - if supported */
uint16_t esc_state; /**< State of ESC - depend on Vendor */
} esc[CONNECTED_ESC_MAX];
};
/**
* @}
*/
/* register this as object request broker structure */
//ORB_DECLARE(esc_status);
ORB_DECLARE_OPTIONAL(esc_status);
#endif
src/modules/uORB/topics/estimator_status.h
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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file estimator_status.h
* Definition of the estimator_status_report uORB topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef ESTIMATOR_STATUS_H_
#define ESTIMATOR_STATUS_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Estimator status report.
*
* This is a generic status report struct which allows any of the onboard estimators
* to write the internal state to the system log.
*
*/
struct estimator_status_report {
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only */
uint64_t timestamp; /**< Timestamp in microseconds since boot */
float states[32]; /**< Internal filter states */
float n_states; /**< Number of states effectively used */
uint8_t nan_flags; /**< Bitmask to indicate NaN states */
uint8_t health_flags; /**< Bitmask to indicate sensor health states (vel, pos, hgt) */
uint8_t timeout_flags; /**< Bitmask to indicate timeout flags (vel, pos, hgt) */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(estimator_status);
#endif
src/modules/uORB/topics/fence.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Jean Cyr <jean.m.cyr@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file fence.h
* Definition of geofence.
*/
#ifndef TOPIC_FENCE_H_
#define TOPIC_FENCE_H_
#include <stdint.h>
#include <stdbool.h>
#include <platforms/px4_defines.h>
/**
* @addtogroup topics
* @{
*/
#define GEOFENCE_MAX_VERTICES 16
/**
* This is the position of a geofence vertex
*
*/
struct fence_vertex_s {
// Worst case float precision gives us 2 meter resolution at the equator
float lat; /**< latitude in degrees */
float lon; /**< longitude in degrees */
};
/**
* This is the position of a geofence
*
*/
struct fence_s {
unsigned count; /**< number of actual vertices */
struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES];
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(fence);
#endif
src/modules/uORB/topics/geofence_result.h
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/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file geofence_result.h
* Status of the plance concerning the geofence
*
* @author Ban Siesta <bansiesta@gmail.com>
*/
#ifndef TOPIC_GEOFENCE_RESULT_H
#define TOPIC_GEOFENCE_RESULT_H
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct geofence_result_s {
bool geofence_violated; /**< true if the geofence is violated */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(geofence_result);
#endif
src/modules/uORB/topics/omnidirectional_flow.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file optical_flow.h
* Definition of the optical flow uORB topic.
*/
#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_
#define TOPIC_OMNIDIRECTIONAL_FLOW_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Omnidirectional optical flow in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
struct omnidirectional_flow_s {
uint64_t timestamp; /**< in microseconds since system start */
uint16_t left[10]; /**< Left flow, in decipixels */
uint16_t right[10]; /**< Right flow, in decipixels */
float front_distance_m; /**< Altitude / distance to object front in meters */
uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(omnidirectional_flow);
#endif
src/modules/uORB/topics/servorail_status.h
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/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file servorail_status.h
*
* Definition of the servorail status uORB topic.
*/
#ifndef SERVORAIL_STATUS_H_
#define SERVORAIL_STATUS_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Servorail voltages and status
*/
struct servorail_status_s {
uint64_t timestamp; /**< microseconds since system boot */
float voltage_v; /**< Servo rail voltage in volts */
float rssi_v; /**< RSSI pin voltage in volts */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(servorail_status);
#endif
src/modules/uORB/topics/subsystem_info.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subsystem_info.h
* Definition of the subsystem info topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef TOPIC_SUBSYSTEM_INFO_H_
#define TOPIC_SUBSYSTEM_INFO_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
enum SUBSYSTEM_TYPE {
SUBSYSTEM_TYPE_GYRO = 1,
SUBSYSTEM_TYPE_ACC = 2,
SUBSYSTEM_TYPE_MAG = 4,
SUBSYSTEM_TYPE_ABSPRESSURE = 8,
SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
SUBSYSTEM_TYPE_GPS = 32,
SUBSYSTEM_TYPE_OPTICALFLOW = 64,
SUBSYSTEM_TYPE_CVPOSITION = 128,
SUBSYSTEM_TYPE_LASERPOSITION = 256,
SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
SUBSYSTEM_TYPE_YAWPOSITION = 4096,
SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
SUBSYSTEM_TYPE_RANGEFINDER = 131072
};
/**
* @addtogroup topics
*/
/**
* State of individual sub systems
*/
struct subsystem_info_s {
bool present;
bool enabled;
bool ok;
enum SUBSYSTEM_TYPE subsystem_type;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(subsystem_info);
#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
src/modules/uORB/topics/system_power.h
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/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file system_power.h
*
* Definition of the system_power voltage and power status uORB topic.
*/
#ifndef SYSTEM_POWER_H_
#define SYSTEM_POWER_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* voltage and power supply status
*/
struct system_power_s {
uint64_t timestamp; /**< microseconds since system boot */
float voltage5V_v; /**< peripheral 5V rail voltage */
uint8_t usb_connected:1; /**< USB is connected when 1 */
uint8_t brick_valid:1; /**< brick power is good when 1 */
uint8_t servo_valid:1; /**< servo power is good when 1 */
uint8_t periph_5V_OC:1; /**< peripheral overcurrent when 1 */
uint8_t hipower_5V_OC:1; /**< hi power peripheral overcurrent when 1 */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(system_power);
#endif
src/modules/uORB/topics/tecs_status.h
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/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_global_position.h
* Definition of the global fused WGS84 position uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*/
#ifndef TECS_STATUS_T_H_
#define TECS_STATUS_T_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
typedef enum {
TECS_MODE_NORMAL = 0,
TECS_MODE_UNDERSPEED,
TECS_MODE_TAKEOFF,
TECS_MODE_LAND,
TECS_MODE_LAND_THROTTLELIM,
TECS_MODE_BAD_DESCENT,
TECS_MODE_CLIMBOUT
} tecs_mode;
/**
* Internal values of the (m)TECS fixed wing speed alnd altitude control system
*/
struct tecs_status_s {
uint64_t timestamp; /**< timestamp, in microseconds since system start */
float altitudeSp;
float altitude_filtered;
float flightPathAngleSp;
float flightPathAngle;
float flightPathAngleFiltered;
float airspeedSp;
float airspeed_filtered;
float airspeedDerivativeSp;
float airspeedDerivative;
float totalEnergyRateSp;
float totalEnergyRate;
float energyDistributionRateSp;
float energyDistributionRate;
tecs_mode mode;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(tecs_status);
#endif
src/modules/uORB/topics/test_motor.h
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/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file test_motor.h
*
* Test a single drive motor while the vehicle is disarmed
*
* Publishing values to this topic causes a single motor to spin, e.g. for
* ground test purposes. This topic will be ignored while the vehicle is armed.
*
*/
#ifndef TOPIC_TEST_MOTOR_H
#define TOPIC_TEST_MOTOR_H
#include <stdint.h>
#include "../uORB.h"
#define NUM_MOTOR_OUTPUTS 8
/**
* @addtogroup topics
* @{
*/
struct test_motor_s {
uint64_t timestamp; /**< output timestamp in us since system boot */
unsigned motor_number; /**< number of motor to spin */
float value; /**< output power, range [0..1] */
};
/**
* @}
*/
/* actuator output sets; this list can be expanded as more drivers emerge */
ORB_DECLARE(test_motor);
#endif
src/modules/uORB/topics/time_offset.h
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file time_offset.h
* Time synchronisation offset
*/
#ifndef TOPIC_TIME_OFFSET_H_
#define TOPIC_TIME_OFFSET_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Timesync offset for synchronisation with companion computer, GCS, etc.
*/
struct time_offset_s {
uint64_t offset_ns; /**< time offset between companion system and PX4, in nanoseconds */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(time_offset);
#endif /* TOPIC_TIME_OFFSET_H_ */
src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
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/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_bodyframe_speed_setpoint.h
* Definition of the bodyframe speed setpoint uORB topic.
*/
#ifndef TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_
#define TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct vehicle_bodyframe_speed_setpoint_s {
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
float vx; /**< in m/s */
float vy; /**< in m/s */
// float vz; /**< in m/s */
float thrust_sp;
float yaw_sp; /**< in radian -PI +PI */
}; /**< Speed in bodyframe to go to */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_bodyframe_speed_setpoint);
#endif
src/modules/uORB/topics/vehicle_command.h
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/****************************************************************************
*
* Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_command.h
* Definition of the vehicle command uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Matosov <anton.matosov@gmail.com>
*/
#ifndef TOPIC_VEHICLE_COMMAND_H_
#define TOPIC_VEHICLE_COMMAND_H_
#include <stdint.h>
#include "../uORB.h"
/**
* Commands for commander app.
*
* Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
* but can contain additional ones.
*/
enum VEHICLE_CMD {
VEHICLE_CMD_CUSTOM_0 = 0, /* test command */
VEHICLE_CMD_CUSTOM_1 = 1, /* test command */
VEHICLE_CMD_CUSTOM_2 = 2, /* test command */
VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_TIME = 19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_LAND = 21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
VEHICLE_CMD_CONDITION_DISTANCE = 114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_CONDITION_YAW = 115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
VEHICLE_CMD_CONDITION_LAST = 159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_SET_MODE = 176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_JUMP = 177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_CHANGE_SPEED = 178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_SET_HOME = 179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
VEHICLE_CMD_DO_SET_PARAMETER = 180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_SET_RELAY = 181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
VEHICLE_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */
VEHICLE_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */
VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty| */
VEHICLE_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */
VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */
VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
VEHICLE_CMD_PREFLIGHT_STORAGE = 245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */
VEHICLE_CMD_OVERRIDE_GOTO = 252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */
VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX| */
VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001, /**< Prepare a payload deployment in the flight plan */
VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 /**< Control a pre-programmed payload deployment */
};
/**
* Commands for commander app.
*
* Should contain all of MAVLink's MAV_CMD_RESULT values
* but can contain additional ones.
*/
enum VEHICLE_CMD_RESULT {
VEHICLE_CMD_RESULT_ACCEPTED = 0, /* Command ACCEPTED and EXECUTED | */
VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1, /* Command TEMPORARY REJECTED/DENIED | */
VEHICLE_CMD_RESULT_DENIED = 2, /* Command PERMANENTLY DENIED | */
VEHICLE_CMD_RESULT_UNSUPPORTED = 3, /* Command UNKNOWN/UNSUPPORTED | */
VEHICLE_CMD_RESULT_FAILED = 4, /* Command executed, but failed | */
VEHICLE_CMD_RESULT_ENUM_END = 5, /* | */
};
/**
* Commands for gimbal app.
*
* Should contain all of MAVLink's MAV_MOUNT_MODE values
* but can contain additional ones.
*/
typedef enum VEHICLE_MOUNT_MODE
{
VEHICLE_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization | */
VEHICLE_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | */
VEHICLE_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
VEHICLE_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
VEHICLE_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
VEHICLE_MOUNT_MODE_ENUM_END=5, /* | */
} VEHICLE_MOUNT_MODE;
/**
* @addtogroup topics
* @{
*/
struct vehicle_command_s {
float param1; /**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum. */
float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */
float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */
float param4; /**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum. */
double param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */
double param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */
float param7; /**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum. */
enum VEHICLE_CMD command; /**< Command ID, as defined MAVLink by VEHICLE_CMD enum. */
uint8_t target_system; /**< System which should execute the command */
uint8_t target_component; /**< Component which should execute the command, 0 for all components */
uint8_t source_system; /**< System sending the command */
uint8_t source_component; /**< Component sending the command */
uint8_t confirmation; /**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */
}; /**< command sent to vehicle */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_command);
#endif
src/modules/uORB/topics/vehicle_control_debug.h
-86
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@@ -1,86 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_control_debug.h
* For debugging purposes to log PID parts of controller
*/
#ifndef TOPIC_VEHICLE_CONTROL_DEBUG_H_
#define TOPIC_VEHICLE_CONTROL_DEBUG_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct vehicle_control_debug_s {
uint64_t timestamp; /**< in microseconds since system start */
float roll_p; /**< roll P control part */
float roll_i; /**< roll I control part */
float roll_d; /**< roll D control part */
float roll_rate_p; /**< roll rate P control part */
float roll_rate_i; /**< roll rate I control part */
float roll_rate_d; /**< roll rate D control part */
float pitch_p; /**< pitch P control part */
float pitch_i; /**< pitch I control part */
float pitch_d; /**< pitch D control part */
float pitch_rate_p; /**< pitch rate P control part */
float pitch_rate_i; /**< pitch rate I control part */
float pitch_rate_d; /**< pitch rate D control part */
float yaw_p; /**< yaw P control part */
float yaw_i; /**< yaw I control part */
float yaw_d; /**< yaw D control part */
float yaw_rate_p; /**< yaw rate P control part */
float yaw_rate_i; /**< yaw rate I control part */
float yaw_rate_d; /**< yaw rate D control part */
}; /**< vehicle_control_debug */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_control_debug);
#endif
src/modules/uORB/topics/vehicle_land_detected.h
-63
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@@ -1,63 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_land_detected.h
* Land detected uORB topic
*
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
#ifndef __TOPIC_VEHICLE_LANDED_H__
#define __TOPIC_VEHICLE_LANDED_H__
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct vehicle_land_detected_s {
uint64_t timestamp; /**< timestamp of the setpoint */
bool landed; /**< true if vehicle is currently landed on the ground*/
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_land_detected);
#endif //__TOPIC_VEHICLE_LANDED_H__
src/modules/uORB/topics/vehicle_vicon_position.h
-77
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@@ -1,77 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_vicon_position.h
* Definition of the raw VICON Motion Capture position
*/
#ifndef TOPIC_VEHICLE_VICON_POSITION_H_
#define TOPIC_VEHICLE_VICON_POSITION_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Fused local position in NED.
*/
struct vehicle_vicon_position_s {
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
bool valid; /**< true if position satisfies validity criteria of estimator */
float x; /**< X positin in meters in NED earth-fixed frame */
float y; /**< X positin in meters in NED earth-fixed frame */
float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */
float roll;
float pitch;
float yaw;
// TODO Add covariances here
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_vicon_position);
#endif
src/modules/uORB/topics/vision_position_estimate.h
-82
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@@ -1,82 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vision_position_estimate.h
* Vision based position estimate
*/
#ifndef TOPIC_VISION_POSITION_ESTIMATE_H_
#define TOPIC_VISION_POSITION_ESTIMATE_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Vision based position estimate in NED frame
*/
struct vision_position_estimate {
unsigned id; /**< ID of the estimator, commonly the component ID of the incoming message */
uint64_t timestamp_boot; /**< time of this estimate, in microseconds since system start */
uint64_t timestamp_computer; /**< timestamp provided by the companion computer, in us */
float x; /**< X position in meters in NED earth-fixed frame */
float y; /**< Y position in meters in NED earth-fixed frame */
float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
float vx; /**< X velocity in meters per second in NED earth-fixed frame */
float vy; /**< Y velocity in meters per second in NED earth-fixed frame */
float vz; /**< Z velocity in meters per second in NED earth-fixed frame */
float q[4]; /**< Estimated attitude as quaternion */
// XXX Add covariances here
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vision_position_estimate);
#endif /* TOPIC_VISION_POSITION_ESTIMATE_H_ */
src/modules/uORB/topics/vtol_vehicle_status.h
-68
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@@ -1,68 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vtol_status.h
*
* Vtol status topic
*
*/
#ifndef TOPIC_VTOL_STATUS_H
#define TOPIC_VTOL_STATUS_H
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/* Indicates in which mode the vtol aircraft is in */
struct vtol_vehicle_status_s {
uint64_t timestamp; /**< Microseconds since system boot */
bool vtol_in_rw_mode; /*true: vtol vehicle is in rotating wing mode */
bool fw_permanent_stab; /**< In fw mode stabilize attitude even if in manual mode*/
float airspeed_tot; /*< Estimated airspeed over control surfaces */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vtol_vehicle_status);
#endif
src/modules/uORB/topics/wind_estimate.h
-68
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@@ -1,68 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file wind_estimate.h
*
* Wind estimate topic topic
*
*/
#ifndef TOPIC_WIND_ESTIMATE_H
#define TOPIC_WIND_ESTIMATE_H
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/** Wind estimate */
struct wind_estimate_s {
uint64_t timestamp; /**< Microseconds since system boot */
float windspeed_north; /**< Wind component in north / X direction */
float windspeed_east; /**< Wind component in east / Y direction */
float covariance_north; /**< Uncertainty - set to zero (no uncertainty) if not estimated */
float covariance_east; /**< Uncertainty - set to zero (no uncertainty) if not estimated */
};
/**
* @}
*/
ORB_DECLARE(wind_estimate);
#endif
src/modules/uavcan/actuators/esc.cpp
+3 -3
View File
@@ -85,7 +85,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
if ((outputs == nullptr) ||
(num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
(num_outputs > CONNECTED_ESC_MAX)) {
(num_outputs > esc_status_s::CONNECTED_ESC_MAX)) {
perf_count(_perfcnt_invalid_input);
return;
}
@@ -159,7 +159,7 @@ void UavcanEscController::arm_single_esc(int num, bool arm)
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
{
if (msg.esc_index < CONNECTED_ESC_MAX) {
if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
@@ -179,7 +179,7 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
{
_esc_status.counter += 1;
_esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
if (_esc_status_pub != nullptr) {
(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);
src/modules/uavcan/uavcan_main.cpp
+3 -3
View File
@@ -398,8 +398,8 @@ int UavcanNode::run()
(_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) &&
orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK &&
!_test_in_progress) {
if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) {
_actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS;
if (_actuator_direct.nvalues > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
_actuator_direct.nvalues = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
}
memcpy(&_outputs.output[0], &_actuator_direct.values[0],
_actuator_direct.nvalues*sizeof(float));
@@ -410,7 +410,7 @@ int UavcanNode::run()
// can we mix?
if (_test_in_progress) {
memset(&_outputs, 0, sizeof(_outputs));
if (_test_motor.motor_number < NUM_ACTUATOR_OUTPUTS) {
if (_test_motor.motor_number < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
_outputs.output[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
_outputs.noutputs = _test_motor.motor_number+1;
}