From 465ea8abe36c3bd4dd7fd5966cfc98a29ec64d71 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 25 May 2015 18:11:03 +0200 Subject: [PATCH] Move actuator_outputs topic into message generation --- msg/actuator_outputs.msg | 5 ++ src/modules/uORB/topics/actuator_outputs.h | 73 ---------------------- 2 files changed, 5 insertions(+), 73 deletions(-) create mode 100644 msg/actuator_outputs.msg delete mode 100644 src/modules/uORB/topics/actuator_outputs.h diff --git a/msg/actuator_outputs.msg b/msg/actuator_outputs.msg new file mode 100644 index 0000000000..00a3c35b79 --- /dev/null +++ b/msg/actuator_outputs.msg @@ -0,0 +1,5 @@ +uint8 NUM_ACTUATOR_OUTPUTS = 16 +uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking +uint64 timestamp # output timestamp in us since system boot +uint32 noutputs # valid outputs +float32[16] output # output data, in natural output units diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h deleted file mode 100644 index c6fbaaed5a..0000000000 --- a/src/modules/uORB/topics/actuator_outputs.h +++ /dev/null @@ -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 -#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