Update to uORB topics, added / improved position triplet, added radio status

2026-10-25 16:43:33 +08:00 · 2013-07-04 15:39:29 +02:00
parent e9290e7fc0
commit 5691c64ff0
6 changed files with 251 additions and 4 deletions
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   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 telemetry_status.h
+ *
+ * Telemetry status topics - radio status outputs
+ */
+
+#ifndef TOPIC_TELEMETRY_STATUS_H
+#define TOPIC_TELEMETRY_STATUS_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+enum TELEMETRY_STATUS_RADIO_TYPE {
+    TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
+    TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
+    TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
+    TELEMETRY_STATUS_RADIO_TYPE_WIRE
+};
+
+struct telemetry_status_s {
+	uint64_t timestamp;
+    enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
+	unsigned rssi;              /**< local signal strength                      */
+    unsigned remote_rssi;       /**< remote signal strength                     */
+    unsigned rxerrors;          /**< receive errors                             */
+    unsigned fixed;             /**< count of error corrected packets           */
+    uint8_t noise;              /**< background noise level                     */
+    uint8_t remote_noise;       /**< remote background noise level              */
+    uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
+};
+
+ORB_DECLARE(telemetry_status);
+
+#endif /* TOPIC_TELEMETRY_STATUS_H */