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Merge branch 'master' into offboard2_merge

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Conflicts:
	src/modules/uORB/topics/rc_channels.h
This commit is contained in:
Julian Oes
2014-07-02 15:15:26 +02:00
parent fdceb8b062 f428ebb04f
commit 73d6121a9d
89 changed files with 1952 additions and 1167 deletions
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src/modules/uORB/Subscription.cpp
+2
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@@ -40,6 +40,7 @@
#include "topics/parameter_update.h"
#include "topics/actuator_controls.h"
#include "topics/vehicle_gps_position.h"
#include "topics/satellite_info.h"
#include "topics/sensor_combined.h"
#include "topics/vehicle_attitude.h"
#include "topics/vehicle_global_position.h"
@@ -88,6 +89,7 @@ T Subscription<T>::getData() {
template class __EXPORT Subscription<parameter_update_s>;
template class __EXPORT Subscription<actuator_controls_s>;
template class __EXPORT Subscription<vehicle_gps_position_s>;
template class __EXPORT Subscription<satellite_info_s>;
template class __EXPORT Subscription<sensor_combined_s>;
template class __EXPORT Subscription<vehicle_attitude_s>;
template class __EXPORT Subscription<vehicle_global_position_s>;
src/modules/uORB/objects_common.cpp
+3
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@@ -75,6 +75,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s);
#include "topics/vehicle_gps_position.h"
ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
#include "topics/satellite_info.h"
ORB_DEFINE(satellite_info, struct satellite_info_s);
#include "topics/home_position.h"
ORB_DEFINE(home_position, struct home_position_s);
src/modules/uORB/topics/rc_channels.h
+26 -42
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* 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
@@ -42,60 +42,44 @@
#include <stdint.h>
#include "../uORB.h"
/**
* The number of RC channel inputs supported.
* Current (Q4/2013) radios support up to 18 channels,
* leaving at a sane value of 16.
* This number can be greater then number of RC channels,
* because single RC channel can be mapped to multiple
* functions, e.g. for various mode switches.
*/
#define RC_CHANNELS_MAPPED_MAX 16
/**
* This defines the mapping of the RC functions.
* The value assigned to the specific function corresponds to the entry of
* the channel array chan[].
* the channel array channels[].
*/
enum RC_CHANNELS_FUNCTION {
THROTTLE = 0,
ROLL = 1,
PITCH = 2,
YAW = 3,
MODE = 4,
RETURN = 5,
POSCTL = 6,
LOITER = 7,
OFFBOARD = 8,
ACRO = 9,
FLAPS = 10,
AUX_1 = 11,
AUX_2 = 12,
AUX_3 = 13,
AUX_4 = 14,
AUX_5 = 15,
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
ROLL,
PITCH,
YAW,
MODE,
RETURN,
POSCTL,
LOITER,
OFFBOARD_MODE,
ACRO,
FLAPS,
AUX_1,
AUX_2,
AUX_3,
AUX_4,
AUX_5,
RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */
};
/**
* @addtogroup topics
* @{
*/
struct rc_channels_s {
uint64_t timestamp; /**< In microseconds since boot time. */
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
struct {
float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
} chan[RC_CHANNELS_MAPPED_MAX];
uint8_t chan_count; /**< number of valid channels */
/*String array to store the names of the functions*/
char function_name[RC_CHANNELS_FUNCTION_MAX][20];
int8_t function[RC_CHANNELS_FUNCTION_MAX];
uint8_t rssi; /**< Overall receive signal strength */
bool signal_lost; /**< control signal lost, should be checked together with topic timeout */
uint64_t timestamp; /**< Timestamp in microseconds since boot time */
uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */
float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */
uint8_t channel_count; /**< Number of valid channels */
char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */
int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */
uint8_t rssi; /**< Receive signal strength index */
bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */
}; /**< radio control channels. */
/**
src/modules/uORB/topics/satellite_info.h
+89
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@@ -0,0 +1,89 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @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 satellite_info.h
* Definition of the GNSS satellite info uORB topic.
*/
#ifndef TOPIC_SAT_INFO_H_
#define TOPIC_SAT_INFO_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* GNSS Satellite Info.
*/
#define SAT_INFO_MAX_SATELLITES 20
struct satellite_info_s {
uint64_t timestamp; /**< Timestamp of satellite info */
uint8_t count; /**< Number of satellites in satellite info */
uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
};
/**
* NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs
* u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf
*
* GPS 1-32
* SBAS 120-158
* Galileo 211-246
* BeiDou 159-163, 33-64
* QZSS 193-197
* GLONASS 65-96, 255
*
*/
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(satellite_info);
#endif
src/modules/uORB/topics/vehicle_gps_position.h
+1 -8
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@@ -82,14 +82,7 @@ struct vehicle_gps_position_s {
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
uint8_t satellite_prn[20]; /**< Global satellite ID */
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_snr[20]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
uint8_t satellites_used; /**< Number of satellites used */
};
/**
src/modules/uORB/topics/vehicle_status.h
+4
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@@ -193,6 +193,8 @@ struct vehicle_status_s {
bool condition_local_altitude_valid;
bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
bool condition_landed; /**< true if vehicle is landed, always true if disarmed */
bool condition_power_input_valid; /**< set if input power is valid */
float avionics_power_rail_voltage; /**< voltage of the avionics power rail */
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception lost */
@@ -222,6 +224,8 @@ struct vehicle_status_s {
uint16_t errors_count2;
uint16_t errors_count3;
uint16_t errors_count4;
bool circuit_breaker_engaged_power_check;
};
/**