mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 04:33:33 +08:00
Fresh import of the PX4 firmware sources.
This commit is contained in:
px4dev
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build uORB
|
||||
#
|
||||
|
||||
APPNAME = uorb
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
@@ -0,0 +1,101 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 Common object definitions without a better home.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <drivers/drv_orb_dev.h>
|
||||
|
||||
#include <drivers/drv_mag.h>
|
||||
ORB_DEFINE(sensor_mag, struct mag_report);
|
||||
|
||||
#include <drivers/drv_accel.h>
|
||||
ORB_DEFINE(sensor_accel, struct accel_report);
|
||||
|
||||
#include <drivers/drv_gyro.h>
|
||||
ORB_DEFINE(sensor_gyro, struct gyro_report);
|
||||
|
||||
#include <drivers/drv_baro.h>
|
||||
ORB_DEFINE(sensor_baro, struct baro_report);
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
ORB_DEFINE(output_pwm, struct pwm_output_values);
|
||||
|
||||
#include <drivers/drv_rc_input.h>
|
||||
ORB_DEFINE(input_rc, struct rc_input_values);
|
||||
|
||||
// XXX need to check wether these should be here
|
||||
#include "topics/vehicle_attitude.h"
|
||||
ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
|
||||
|
||||
#include "topics/sensor_combined.h"
|
||||
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/vehicle_status.h"
|
||||
ORB_DEFINE(vehicle_status, struct vehicle_status_s);
|
||||
|
||||
#include "topics/vehicle_global_position.h"
|
||||
ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
|
||||
|
||||
#include "topics/vehicle_local_position.h"
|
||||
ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
|
||||
|
||||
#include "topics/ardrone_control.h"
|
||||
ORB_DEFINE(ardrone_control, struct ardrone_control_s);
|
||||
|
||||
#include "topics/ardrone_motors_setpoint.h"
|
||||
ORB_DEFINE(ardrone_motors_setpoint, struct ardrone_motors_setpoint_s);
|
||||
|
||||
#include "topics/rc_channels.h"
|
||||
ORB_DEFINE(rc_channels, struct rc_channels_s);
|
||||
|
||||
#include "topics/fixedwing_control.h"
|
||||
ORB_DEFINE(fixedwing_control, struct fixedwing_control_s);
|
||||
|
||||
#include "topics/vehicle_command.h"
|
||||
ORB_DEFINE(vehicle_command, struct vehicle_command_s);
|
||||
|
||||
#include "topics/vehicle_local_position_setpoint.h"
|
||||
ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
|
||||
|
||||
#include "topics/vehicle_global_position_setpoint.h"
|
||||
ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
|
||||
|
||||
#include "topics/vehicle_attitude_setpoint.h"
|
||||
ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_s);
|
||||
@@ -0,0 +1,379 @@
|
||||
|
||||
#include "parameter_storage.h"
|
||||
#include <stdbool.h>
|
||||
|
||||
|
||||
/* Global symbols / flags */
|
||||
|
||||
struct global_data_parameter_storage_t global_data_parameter_storage_d = { /*.counter = 0, .timestamp = 0,*/ .pm = {.size = PARAM_MAX_COUNT,
|
||||
.param_values[PARAM_SYSTEM_ID] = 12,
|
||||
.param_names[PARAM_SYSTEM_ID] = "SYS_ID",
|
||||
.param_needs_write[PARAM_SYSTEM_ID] = false,
|
||||
|
||||
.param_values[PARAM_COMP_ID] = 200,
|
||||
.param_names[PARAM_COMP_ID] = "COMP_ID",
|
||||
.param_needs_write[PARAM_COMP_ID] = false,
|
||||
|
||||
.param_values[PARAM_FLIGHT_ENV] = (float)PX4_FLIGHT_ENVIRONMENT_INDOOR,
|
||||
.param_names[PARAM_FLIGHT_ENV] = "FLIGHT_ENV",
|
||||
.param_needs_write[PARAM_FLIGHT_ENV] = false,
|
||||
|
||||
.param_values[PARAM_BATTERYVOLTAGE_CONVERSION] = -1.f,
|
||||
.param_names[PARAM_BATTERYVOLTAGE_CONVERSION] = "BATVOLTAG_CONV",
|
||||
.param_needs_write[PARAM_BATTERYVOLTAGE_CONVERSION] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWPOS_P] = 0.3f,
|
||||
.param_names[PARAM_PID_YAWPOS_P] = "PID_YAWPOS_P",
|
||||
.param_needs_write[PARAM_PID_YAWPOS_P] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWPOS_I] = 0.15f,
|
||||
.param_names[PARAM_PID_YAWPOS_I] = "PID_YAWPOS_I",
|
||||
.param_needs_write[PARAM_PID_YAWPOS_I] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWPOS_D] = 0.0f,
|
||||
.param_names[PARAM_PID_YAWPOS_D] = "PID_YAWPOS_D",
|
||||
.param_needs_write[PARAM_PID_YAWPOS_D] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWPOS_AWU] = 1.0f,
|
||||
.param_names[PARAM_PID_YAWPOS_AWU] = "PID_YAWPOS_AWU",
|
||||
.param_needs_write[PARAM_PID_YAWPOS_AWU] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWPOS_LIM] = 3.0f,
|
||||
.param_names[PARAM_PID_YAWPOS_LIM] = "PID_YAWPOS_LIM",
|
||||
.param_needs_write[PARAM_PID_YAWPOS_LIM] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWSPEED_P] = 0.1f,
|
||||
.param_names[PARAM_PID_YAWSPEED_P] = "PID_YAWSPD_P",
|
||||
.param_needs_write[PARAM_PID_YAWSPEED_P] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWSPEED_I] = 0.02f,
|
||||
.param_names[PARAM_PID_YAWSPEED_I] = "PID_YAWSPD_I",
|
||||
.param_needs_write[PARAM_PID_YAWSPEED_I] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWSPEED_D] = 0.0f,
|
||||
.param_names[PARAM_PID_YAWSPEED_D] = "PID_YAWSPD_D",
|
||||
.param_needs_write[PARAM_PID_YAWSPEED_D] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWSPEED_AWU] = 0.02f,
|
||||
.param_names[PARAM_PID_YAWSPEED_AWU] = "PID_YAWSPD_AWU",
|
||||
.param_needs_write[PARAM_PID_YAWSPEED_AWU] = false,
|
||||
|
||||
.param_values[PARAM_PID_YAWSPEED_LIM] = 0.1f,
|
||||
.param_names[PARAM_PID_YAWSPEED_LIM] = "PID_YAWSPD_LIM",
|
||||
.param_needs_write[PARAM_PID_YAWSPEED_LIM] = false,
|
||||
|
||||
.param_values[PARAM_PID_ATT_P] = 0.3f,
|
||||
.param_names[PARAM_PID_ATT_P] = "PID_ATT_P",
|
||||
.param_needs_write[PARAM_PID_ATT_P] = false,
|
||||
|
||||
.param_values[PARAM_PID_ATT_I] = 0.0f,
|
||||
.param_names[PARAM_PID_ATT_I] = "PID_ATT_I",
|
||||
.param_needs_write[PARAM_PID_ATT_I] = false,
|
||||
|
||||
.param_values[PARAM_PID_ATT_D] = 0.1f,
|
||||
.param_names[PARAM_PID_ATT_D] = "PID_ATT_D",
|
||||
.param_needs_write[PARAM_PID_ATT_D] = false,
|
||||
|
||||
.param_values[PARAM_PID_ATT_AWU] = 0.05f,
|
||||
.param_names[PARAM_PID_ATT_AWU] = "PID_ATT_AWU",
|
||||
.param_needs_write[PARAM_PID_ATT_AWU] = false,
|
||||
|
||||
.param_values[PARAM_PID_ATT_LIM] = 0.3f,
|
||||
.param_names[PARAM_PID_ATT_LIM] = "PID_ATT_LIM",
|
||||
.param_needs_write[PARAM_PID_ATT_LIM] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_P] = 40.0f,
|
||||
.param_names[PARAM_PID_POS_P] = "PID_POS_P",
|
||||
.param_needs_write[PARAM_PID_POS_P] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_I] = 0.0f,
|
||||
.param_names[PARAM_PID_POS_I] = "PID_POS_I",
|
||||
.param_needs_write[PARAM_PID_POS_I] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_D] = 0.0f,
|
||||
.param_names[PARAM_PID_POS_D] = "PID_POS_D",
|
||||
.param_needs_write[PARAM_PID_POS_D] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_AWU] = 5.0f,
|
||||
.param_names[PARAM_PID_POS_AWU] = "PID_POS_AWU",
|
||||
.param_needs_write[PARAM_PID_POS_AWU] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_LIM] = 0.3f,
|
||||
.param_names[PARAM_PID_POS_LIM] = "PID_POS_LIM",
|
||||
.param_needs_write[PARAM_PID_POS_LIM] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_Z_P] = 10.0f,
|
||||
.param_names[PARAM_PID_POS_Z_P] = "PID_POS_Z_P",
|
||||
.param_needs_write[PARAM_PID_POS_Z_P] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_Z_I] = 0.0f,
|
||||
.param_names[PARAM_PID_POS_Z_I] = "PID_POS_Z_I",
|
||||
.param_needs_write[PARAM_PID_POS_Z_I] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_Z_D] = 0.0f,
|
||||
.param_names[PARAM_PID_POS_Z_D] = "PID_POS_Z_D",
|
||||
.param_needs_write[PARAM_PID_POS_Z_D] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_Z_AWU] = 3.0f,
|
||||
.param_names[PARAM_PID_POS_Z_AWU] = "PID_POS_Z_AWU",
|
||||
.param_needs_write[PARAM_PID_POS_Z_AWU] = false,
|
||||
|
||||
.param_values[PARAM_PID_POS_Z_LIM] = 0.3f,
|
||||
.param_names[PARAM_PID_POS_Z_LIM] = "PID_POS_Z_LIM",
|
||||
.param_needs_write[PARAM_PID_POS_Z_LIM] = false,
|
||||
|
||||
.param_values[PARAM_AIRSPEED] = 30.0f,
|
||||
.param_names[PARAM_AIRSPEED] = "AIRSPEED",
|
||||
.param_needs_write[PARAM_AIRSPEED] = false,
|
||||
|
||||
.param_values[PARAM_WPLON] = -120.0f,
|
||||
.param_names[PARAM_WPLON] = "WPLON",
|
||||
.param_needs_write[PARAM_WPLON] = false,
|
||||
|
||||
.param_values[PARAM_WPLAT] = 38.0f,
|
||||
.param_names[PARAM_WPLAT] = "WPLAT",
|
||||
.param_needs_write[PARAM_WPLAT] = false,
|
||||
|
||||
.param_values[PARAM_WPALT] = 500.0f,
|
||||
.param_names[PARAM_WPALT] = "WPALT",
|
||||
.param_needs_write[PARAM_WPALT] = false,
|
||||
|
||||
.param_values[PARAM_FLIGHTMODE] = CRUISE,
|
||||
.param_names[PARAM_FLIGHTMODE] = "FLIGHTMODE",
|
||||
.param_needs_write[PARAM_FLIGHTMODE] = false,
|
||||
|
||||
.param_values[PARAM_SENSOR_GYRO_XOFFSET] = 700.f,
|
||||
.param_names[PARAM_SENSOR_GYRO_XOFFSET] = "SENSOR_GYRO_XOF",
|
||||
.param_needs_write[PARAM_SENSOR_GYRO_XOFFSET] = false,
|
||||
|
||||
.param_values[PARAM_SENSOR_GYRO_YOFFSET] = 1400.0f,
|
||||
.param_names[PARAM_SENSOR_GYRO_YOFFSET] = "SENSOR_GYRO_YOF",
|
||||
.param_needs_write[PARAM_SENSOR_GYRO_YOFFSET] = false,
|
||||
|
||||
.param_values[PARAM_SENSOR_GYRO_ZOFFSET] = 0.0f,
|
||||
.param_names[PARAM_SENSOR_GYRO_ZOFFSET] = "SENSOR_GYRO_ZOF",
|
||||
.param_needs_write[PARAM_SENSOR_GYRO_ZOFFSET] = false,
|
||||
|
||||
.param_values[PARAM_SENSOR_MAG_XOFFSET] = 422.0f,
|
||||
.param_names[PARAM_SENSOR_MAG_XOFFSET] = "SENSOR_MAG_XOF",
|
||||
.param_needs_write[PARAM_SENSOR_MAG_XOFFSET] = false,
|
||||
|
||||
.param_values[PARAM_SENSOR_MAG_YOFFSET] = -85.0f,
|
||||
.param_names[PARAM_SENSOR_MAG_YOFFSET] = "SENSOR_MAG_YOF",
|
||||
.param_needs_write[PARAM_SENSOR_MAG_YOFFSET] = false,
|
||||
|
||||
.param_values[PARAM_SENSOR_MAG_ZOFFSET] = -370.0f,
|
||||
.param_names[PARAM_SENSOR_MAG_ZOFFSET] = "SENSOR_MAG_ZOF",
|
||||
.param_needs_write[PARAM_SENSOR_MAG_ZOFFSET] = false,
|
||||
|
||||
.param_values[PARAM_ATT_XOFFSET] = 0.0f,
|
||||
.param_names[PARAM_ATT_XOFFSET] = "ATT_XOFF",
|
||||
.param_needs_write[PARAM_ATT_XOFFSET] = false,
|
||||
|
||||
.param_values[PARAM_ATT_YOFFSET] = 0.0f,
|
||||
.param_names[PARAM_ATT_YOFFSET] = "ATT_YOFF",
|
||||
.param_needs_write[PARAM_ATT_YOFFSET] = false,
|
||||
|
||||
.param_values[PARAM_RC1_MIN] = 1000.0f,
|
||||
.param_names[PARAM_RC1_MIN] = "RC1_MIN",
|
||||
.param_needs_write[PARAM_RC1_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC1_MAX] = 2000.0f,
|
||||
.param_names[PARAM_RC1_MAX] = "RC1_MAX",
|
||||
.param_needs_write[PARAM_RC1_MAX] = false,
|
||||
|
||||
.param_values[PARAM_RC1_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_RC1_TRIM] = "RC1_TRIM",
|
||||
.param_needs_write[PARAM_RC1_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_RC1_REV] = 1.0f,
|
||||
.param_names[PARAM_RC1_REV] = "RC1_REV",
|
||||
.param_needs_write[PARAM_RC1_REV] = false,
|
||||
|
||||
.param_values[PARAM_RC2_MIN] = 1000.0f,
|
||||
.param_names[PARAM_RC2_MIN] = "RC2_MIN",
|
||||
.param_needs_write[PARAM_RC2_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC2_MAX] = 2000.0f,
|
||||
.param_names[PARAM_RC2_MAX] = "RC2_MAX",
|
||||
.param_needs_write[PARAM_RC2_MAX] = false,
|
||||
|
||||
.param_values[PARAM_RC2_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_RC2_TRIM] = "RC2_TRIM",
|
||||
.param_needs_write[PARAM_RC2_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_RC2_REV] = 1.0f,
|
||||
.param_names[PARAM_RC2_REV] = "RC2_REV",
|
||||
.param_needs_write[PARAM_RC2_REV] = false,
|
||||
|
||||
.param_values[PARAM_RC3_MIN] = 1000.0f,
|
||||
.param_names[PARAM_RC3_MIN] = "RC3_MIN",
|
||||
.param_needs_write[PARAM_RC3_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC3_MAX] = 2000.0f,
|
||||
.param_names[PARAM_RC3_MAX] = "RC3_MAX",
|
||||
.param_needs_write[PARAM_RC3_MAX] = false,
|
||||
|
||||
.param_values[PARAM_RC3_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_RC3_TRIM] = "RC3_TRIM",
|
||||
.param_needs_write[PARAM_RC3_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_RC3_REV] = 1.0f,
|
||||
.param_names[PARAM_RC3_REV] = "RC3_REV",
|
||||
.param_needs_write[PARAM_RC3_REV] = false,
|
||||
|
||||
.param_values[PARAM_RC4_MIN] = 1000.0f,
|
||||
.param_names[PARAM_RC4_MIN] = "RC4_MIN",
|
||||
.param_needs_write[PARAM_RC4_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC4_MAX] = 2000.0f,
|
||||
.param_names[PARAM_RC4_MAX] = "RC4_MAX",
|
||||
.param_needs_write[PARAM_RC4_MAX] = false,
|
||||
|
||||
.param_values[PARAM_RC4_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_RC4_TRIM] = "RC4_TRIM",
|
||||
.param_needs_write[PARAM_RC4_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_RC4_REV] = 1.0f,
|
||||
.param_names[PARAM_RC4_REV] = "RC4_REV",
|
||||
.param_needs_write[PARAM_RC4_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC5_MIN] = 1000.0f,
|
||||
.param_names[PARAM_RC5_MIN] = "RC5_MIN",
|
||||
.param_needs_write[PARAM_RC5_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC5_MAX] = 2000.0f,
|
||||
.param_names[PARAM_RC5_MAX] = "RC5_MAX",
|
||||
.param_needs_write[PARAM_RC5_MAX] = false,
|
||||
|
||||
.param_values[PARAM_RC5_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_RC5_TRIM] = "RC5_TRIM",
|
||||
.param_needs_write[PARAM_RC5_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_RC5_REV] = 1.0f,
|
||||
.param_names[PARAM_RC5_REV] = "RC5_REV",
|
||||
.param_needs_write[PARAM_RC5_REV] = false,
|
||||
|
||||
.param_values[PARAM_RC6_MIN] = 1000.0f,
|
||||
.param_names[PARAM_RC6_MIN] = "RC6_MIN",
|
||||
.param_needs_write[PARAM_RC6_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC6_MAX] = 2000.0f,
|
||||
.param_names[PARAM_RC6_MAX] = "RC6_MAX",
|
||||
.param_needs_write[PARAM_RC6_MAX] = false,
|
||||
|
||||
.param_values[PARAM_RC6_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_RC6_TRIM] = "RC6_TRIM",
|
||||
.param_needs_write[PARAM_RC6_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_RC6_REV] = 1.0f,
|
||||
.param_names[PARAM_RC6_REV] = "RC6_REV",
|
||||
.param_needs_write[PARAM_RC6_REV] = false,
|
||||
|
||||
.param_values[PARAM_RC7_MIN] = 1000,
|
||||
.param_names[PARAM_RC7_MIN] = "RC7_MIN",
|
||||
.param_needs_write[PARAM_RC7_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC7_MAX] = 2000,
|
||||
.param_names[PARAM_RC7_MAX] = "RC7_MAX",
|
||||
.param_needs_write[PARAM_RC7_MAX] = false,
|
||||
|
||||
.param_values[PARAM_RC7_TRIM] = 1500,
|
||||
.param_names[PARAM_RC7_TRIM] = "RC7_TRIM",
|
||||
.param_needs_write[PARAM_RC7_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_RC7_REV] = 1.0f,
|
||||
.param_names[PARAM_RC7_REV] = "RC7_REV",
|
||||
.param_needs_write[PARAM_RC7_REV] = false,
|
||||
|
||||
.param_values[PARAM_RC8_MIN] = 1000,
|
||||
.param_names[PARAM_RC8_MIN] = "RC8_MIN",
|
||||
.param_needs_write[PARAM_RC8_MIN] = false,
|
||||
|
||||
.param_values[PARAM_RC8_MAX] = 2000,
|
||||
.param_names[PARAM_RC8_MAX] = "RC8_MAX",
|
||||
.param_needs_write[PARAM_RC8_MAX] = false,
|
||||
|
||||
.param_values[PARAM_RC8_TRIM] = 1500,
|
||||
.param_names[PARAM_RC8_TRIM] = "RC8_TRIM",
|
||||
.param_needs_write[PARAM_RC8_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_RC8_REV] = 1.0f,
|
||||
.param_names[PARAM_RC8_REV] = "RC8_REV",
|
||||
.param_needs_write[PARAM_RC8_REV] = false,
|
||||
|
||||
.param_values[PARAM_ROLL_CHAN] = 1,
|
||||
.param_names[PARAM_ROLL_CHAN] = "ROLL_CHAN",
|
||||
.param_needs_write[PARAM_ROLL_CHAN] = false,
|
||||
|
||||
.param_values[PARAM_PITCH_CHAN] = 2,
|
||||
.param_names[PARAM_PITCH_CHAN] = "PITCH_CHAN",
|
||||
.param_needs_write[PARAM_PITCH_CHAN] = false,
|
||||
|
||||
.param_values[PARAM_THROTTLE_CHAN] = 3,
|
||||
.param_names[PARAM_THROTTLE_CHAN] = "THROTTLE_CHAN",
|
||||
.param_needs_write[PARAM_THROTTLE_CHAN] = false,
|
||||
|
||||
.param_values[PARAM_YAW_CHAN] = 4,
|
||||
.param_names[PARAM_YAW_CHAN] = "YAW_CHAN",
|
||||
.param_needs_write[PARAM_YAW_CHAN] = false,
|
||||
|
||||
.param_values[PARAM_OVERRIDE_CHAN] = 5,
|
||||
.param_names[PARAM_OVERRIDE_CHAN] = "OVERRIDE_CHAN",
|
||||
.param_needs_write[PARAM_OVERRIDE_CHAN] = false,
|
||||
|
||||
.param_values[PARAM_SERVO1_MIN] = 1000.0f,
|
||||
.param_names[PARAM_SERVO1_MIN] = "SERVO1_MIN",
|
||||
.param_needs_write[PARAM_SERVO1_MIN] = false,
|
||||
|
||||
.param_values[PARAM_SERVO1_MAX] = 2000.0f,
|
||||
.param_names[PARAM_SERVO1_MAX] = "SERVO1_MAX",
|
||||
.param_needs_write[PARAM_SERVO1_MAX] = false,
|
||||
|
||||
.param_values[PARAM_SERVO1_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_SERVO1_TRIM] = "SERVO1_TRIM",
|
||||
.param_needs_write[PARAM_SERVO1_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_SERVO2_MIN] = 1000.0f,
|
||||
.param_names[PARAM_SERVO2_MIN] = "SERVO2_MIN",
|
||||
.param_needs_write[PARAM_SERVO2_MIN] = false,
|
||||
|
||||
.param_values[PARAM_SERVO2_MAX] = 2000.0f,
|
||||
.param_names[PARAM_SERVO2_MAX] = "SERVO2_MAX",
|
||||
.param_needs_write[PARAM_SERVO2_MAX] = false,
|
||||
|
||||
.param_values[PARAM_SERVO2_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_SERVO2_TRIM] = "SERVO2_TRIM",
|
||||
.param_needs_write[PARAM_SERVO2_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_SERVO3_MIN] = 1000.0f,
|
||||
.param_names[PARAM_SERVO3_MIN] = "SERVO3_MIN",
|
||||
.param_needs_write[PARAM_SERVO3_MIN] = false,
|
||||
|
||||
.param_values[PARAM_SERVO3_MAX] = 2000.0f,
|
||||
.param_names[PARAM_SERVO3_MAX] = "SERVO3_MAX",
|
||||
.param_needs_write[PARAM_SERVO3_MAX] = false,
|
||||
|
||||
.param_values[PARAM_SERVO3_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_SERVO3_TRIM] = "SERVO3_TRIM",
|
||||
.param_needs_write[PARAM_SERVO3_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_SERVO4_MIN] = 1000.0f,
|
||||
.param_names[PARAM_SERVO4_MIN] = "SERVO4_MIN",
|
||||
.param_needs_write[PARAM_SERVO4_MIN] = false,
|
||||
|
||||
.param_values[PARAM_SERVO4_MAX] = 2000.0f,
|
||||
.param_names[PARAM_SERVO4_MAX] = "SERVO4_MAX",
|
||||
.param_needs_write[PARAM_SERVO4_MAX] = false,
|
||||
|
||||
.param_values[PARAM_SERVO4_TRIM] = 1500.0f,
|
||||
.param_names[PARAM_SERVO4_TRIM] = "SERVO4_TRIM",
|
||||
.param_needs_write[PARAM_SERVO4_TRIM] = false,
|
||||
|
||||
.param_values[PARAM_SERVO_SCALE] = 20.0f,
|
||||
.param_names[PARAM_SERVO_SCALE] = "SERVO_SCALE",
|
||||
.param_needs_write[PARAM_SERVO_SCALE] = false
|
||||
}
|
||||
};
|
||||
|
||||
struct global_data_parameter_storage_t *global_data_parameter_storage = &global_data_parameter_storage_d;
|
||||
@@ -0,0 +1,148 @@
|
||||
/* Structure for storage of parameters */
|
||||
|
||||
#ifndef GLOBAL_DATA_PARAMETER_STORAGE_T_H_ //adjust this line!
|
||||
#define GLOBAL_DATA_PARAMETER_STORAGE_T_H_ //adjust this line!
|
||||
|
||||
#define PX4_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
|
||||
#define MAX_PARAM_NAME_LEN 16
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
enum MODE {
|
||||
TAKEOFF = 1,
|
||||
CRUISE,
|
||||
LOITER,
|
||||
LAND
|
||||
};
|
||||
|
||||
enum PARAM {
|
||||
PARAM_SYSTEM_ID = 0, ///< System ID used for communication
|
||||
PARAM_COMP_ID, ///< Component ID
|
||||
PARAM_FLIGHT_ENV, ///< Flight environment, indoor or outdoor
|
||||
PARAM_BATTERYVOLTAGE_CONVERSION, ///< Conversion factor from adc measurement to millivolts. if not set the sensor app will use the default value for the ardrone board
|
||||
PARAM_PID_YAWPOS_P,
|
||||
PARAM_PID_YAWPOS_I,
|
||||
PARAM_PID_YAWPOS_D,
|
||||
PARAM_PID_YAWPOS_AWU,
|
||||
PARAM_PID_YAWPOS_LIM,
|
||||
PARAM_PID_YAWSPEED_P,
|
||||
PARAM_PID_YAWSPEED_I,
|
||||
PARAM_PID_YAWSPEED_D,
|
||||
PARAM_PID_YAWSPEED_AWU,
|
||||
PARAM_PID_YAWSPEED_LIM,
|
||||
PARAM_PID_ATT_P,
|
||||
PARAM_PID_ATT_I,
|
||||
PARAM_PID_ATT_D,
|
||||
PARAM_PID_ATT_AWU,
|
||||
PARAM_PID_ATT_LIM,
|
||||
PARAM_PID_POS_P,
|
||||
PARAM_PID_POS_I,
|
||||
PARAM_PID_POS_D,
|
||||
PARAM_PID_POS_AWU,
|
||||
PARAM_PID_POS_LIM,
|
||||
PARAM_PID_POS_Z_P,
|
||||
PARAM_PID_POS_Z_I,
|
||||
PARAM_PID_POS_Z_D,
|
||||
PARAM_PID_POS_Z_AWU,
|
||||
PARAM_PID_POS_Z_LIM,
|
||||
PARAM_AIRSPEED,
|
||||
PARAM_WPLON,
|
||||
PARAM_WPLAT,
|
||||
PARAM_WPALT,
|
||||
PARAM_FLIGHTMODE,
|
||||
PARAM_SENSOR_GYRO_XOFFSET,
|
||||
PARAM_SENSOR_GYRO_YOFFSET,
|
||||
PARAM_SENSOR_GYRO_ZOFFSET,
|
||||
PARAM_SENSOR_MAG_XOFFSET,
|
||||
PARAM_SENSOR_MAG_YOFFSET,
|
||||
PARAM_SENSOR_MAG_ZOFFSET,
|
||||
PARAM_ATT_XOFFSET,
|
||||
PARAM_ATT_YOFFSET,
|
||||
PARAM_RC1_MIN,
|
||||
PARAM_RC1_MAX,
|
||||
PARAM_RC1_TRIM,
|
||||
PARAM_RC1_REV,
|
||||
PARAM_RC2_MIN,
|
||||
PARAM_RC2_MAX,
|
||||
PARAM_RC2_TRIM,
|
||||
PARAM_RC2_REV,
|
||||
PARAM_RC3_MIN,
|
||||
PARAM_RC3_MAX,
|
||||
PARAM_RC3_TRIM,
|
||||
PARAM_RC3_REV,
|
||||
PARAM_RC4_MIN,
|
||||
PARAM_RC4_MAX,
|
||||
PARAM_RC4_TRIM,
|
||||
PARAM_RC4_REV,
|
||||
PARAM_RC5_MIN,
|
||||
PARAM_RC5_MAX,
|
||||
PARAM_RC5_TRIM,
|
||||
PARAM_RC5_REV,
|
||||
PARAM_RC6_MIN,
|
||||
PARAM_RC6_MAX,
|
||||
PARAM_RC6_TRIM,
|
||||
PARAM_RC6_REV,
|
||||
PARAM_RC7_MIN,
|
||||
PARAM_RC7_MAX,
|
||||
PARAM_RC7_TRIM,
|
||||
PARAM_RC7_REV,
|
||||
PARAM_RC8_MIN,
|
||||
PARAM_RC8_MAX,
|
||||
PARAM_RC8_TRIM,
|
||||
PARAM_RC8_REV,
|
||||
PARAM_THROTTLE_CHAN,
|
||||
PARAM_ROLL_CHAN,
|
||||
PARAM_PITCH_CHAN,
|
||||
PARAM_YAW_CHAN,
|
||||
PARAM_OVERRIDE_CHAN,
|
||||
PARAM_SERVO1_MIN,
|
||||
PARAM_SERVO1_MAX,
|
||||
PARAM_SERVO1_TRIM,
|
||||
PARAM_SERVO2_MIN,
|
||||
PARAM_SERVO2_MAX,
|
||||
PARAM_SERVO2_TRIM,
|
||||
PARAM_SERVO3_MIN,
|
||||
PARAM_SERVO3_MAX,
|
||||
PARAM_SERVO3_TRIM,
|
||||
PARAM_SERVO4_MIN,
|
||||
PARAM_SERVO4_MAX,
|
||||
PARAM_SERVO4_TRIM,
|
||||
PARAM_SERVO_SCALE,
|
||||
PARAM_MAX_COUNT ///< LEAVE THIS IN PLACE AS LAST ELEMENT!
|
||||
};
|
||||
|
||||
struct px4_parameter_storage_t {
|
||||
float param_values[PARAM_MAX_COUNT]; ///< Parameter values
|
||||
const char *param_names[PARAM_MAX_COUNT]; ///< Parameter names
|
||||
bool param_needs_write[PARAM_MAX_COUNT];
|
||||
uint16_t next_param;
|
||||
uint16_t size;
|
||||
};
|
||||
|
||||
|
||||
#define PX4_FLIGHT_ENVIRONMENT_INDOOR 0
|
||||
#define PX4_FLIGHT_ENVIRONMENT_OUTDOOR 1
|
||||
#define PX4_FLIGHT_ENVIRONMENT_TESTING 2 //NO check for position fix in this environment
|
||||
|
||||
struct global_data_parameter_storage_t {
|
||||
|
||||
/* 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
|
||||
|
||||
/* Actual data, this is specific to the type of data which is stored in this struct */
|
||||
|
||||
//***** Start: Add your variables here *****
|
||||
|
||||
/* Parameters (set by a param_set mavlink message */
|
||||
struct px4_parameter_storage_t pm;
|
||||
|
||||
//*****END: Add your variables here *****
|
||||
|
||||
};
|
||||
|
||||
__attribute__ ((visibility ("default"))) extern struct global_data_parameter_storage_t *global_data_parameter_storage; //adjust this line!
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,68 @@
|
||||
/* Structure for storage of shared variables (extended( */
|
||||
|
||||
/* global_data_subsystem_info stores a buffer of the sensor info/status messages (sent by sensors or gps app), this is then handled by the commander. (The commander then writes to global_data_sys_status which is read by mavlink) */
|
||||
|
||||
/* (any app) --> global_data_subsystem_info (buffered) --> (commander app) --> global_data_sys_status --> (mavlink app) */
|
||||
|
||||
#ifndef GLOBAL_DATA_SUBSYSTEM_INFO_T_H_ //adjust this line!
|
||||
#define GLOBAL_DATA_SUBSYSTEM_INFO_T_H_ //adjust this line!
|
||||
|
||||
#define SUBSYSTEM_INFO_BUFFER_SIZE 10
|
||||
|
||||
#include "global_data_access.h"
|
||||
|
||||
typedef enum //values correspond to bitmasks of mavlink message sys_status, this is crucial for the underlying bitmask to work
|
||||
{
|
||||
SUBSYSTEM_TYPE_GYRO = 0,
|
||||
SUBSYSTEM_TYPE_ACC = 1,
|
||||
SUBSYSTEM_TYPE_MAG = 2,
|
||||
SUBSYSTEM_TYPE_ABSPRESSURE = 3,
|
||||
SUBSYSTEM_TYPE_DIFFPRESSURE = 4,
|
||||
SUBSYSTEM_TYPE_GPS = 5,
|
||||
SUBSYSTEM_TYPE_OPTICALFLOW = 6,
|
||||
SUBSYSTEM_TYPE_CVPOSITION = 7,
|
||||
SUBSYSTEM_TYPE_LASERPOSITION = 8,
|
||||
SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 9,
|
||||
SUBSYSTEM_TYPE_ANGULARRATECONTROL = 10,
|
||||
SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 11,
|
||||
SUBSYSTEM_TYPE_YAWPOSITION = 12,
|
||||
SUBSYSTEM_TYPE_ALTITUDECONTROL = 13,
|
||||
SUBSYSTEM_TYPE_POSITIONCONTROL = 14,
|
||||
SUBSYSTEM_TYPE_MOTORCONTROL = 15
|
||||
|
||||
} subsystem_type_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t present;
|
||||
uint8_t enabled;
|
||||
uint8_t health;
|
||||
|
||||
subsystem_type_t subsystem_type;
|
||||
|
||||
} __attribute__((__packed__)) subsystem_info_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* Struct which stores the access configuration, this is the same for all shared structs */
|
||||
|
||||
access_conf_t access_conf; //don't remove this line!
|
||||
|
||||
/* 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
|
||||
|
||||
/* Actual data, this is specific to the type of data which is stored in this struct */
|
||||
|
||||
//***** Start: Add your variables here *****
|
||||
subsystem_info_t info[SUBSYSTEM_INFO_BUFFER_SIZE];
|
||||
uint8_t current_info;
|
||||
|
||||
//*****END: Add your variables here *****
|
||||
|
||||
} global_data_subsystem_info_t; //adjust this line!
|
||||
|
||||
extern global_data_subsystem_info_t* global_data_subsystem_info; //adjust this line!
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,64 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 control topic - mixer inputs.
|
||||
*
|
||||
* Values published to this topic are the outputs of the vehicle control
|
||||
* system, and are expected to be mixed and used to drive the actuators
|
||||
* (servos, speed controls, etc.) that operate the vehicle.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_ACTUATOR_CONTROLS_H
|
||||
#define TOPIC_ACTUATOR_CONTROLS_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
#define NUM_ACTUATOR_CONTROLS 16
|
||||
|
||||
struct actuator_controls
|
||||
{
|
||||
float control[NUM_ACTUATOR_CONTROLS];
|
||||
};
|
||||
|
||||
ORB_DECLARE(actuator_controls);
|
||||
|
||||
struct actuator_armed
|
||||
{
|
||||
bool armed;
|
||||
};
|
||||
|
||||
ORB_DECLARE(actuator_armed);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,83 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 ardrone_control.c
|
||||
* Definition of the ardrone_control uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_ARDRONE_CONTROL_H_
|
||||
#define TOPIC_ARDRONE_CONTROL_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct ardrone_control_s
|
||||
{
|
||||
uint16_t counter; /**< incremented by the publishing thread everytime new data is stored. */
|
||||
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data. */
|
||||
|
||||
float setpoint_rate_cast[3];
|
||||
float setpoint_thrust_cast; /**< LOGME */
|
||||
float setpoint_attitude_rate[3];
|
||||
float setpoint_attitude[3]; /**< LOGME */
|
||||
float attitude_control_output[3]; /**< roll, pitch, yaw. */
|
||||
float position_control_output[3]; /**< x, y, z. */
|
||||
float attitude_setpoint_navigationframe_from_positioncontroller[3]; /**< LOGME */
|
||||
float gyro_scaled[3];
|
||||
float gyro_filtered[3];
|
||||
float gyro_filtered_offset[3];
|
||||
float zcompensation;
|
||||
uint16_t motor_front_nw;
|
||||
uint16_t motor_right_ne;
|
||||
uint16_t motor_back_se;
|
||||
uint16_t motor_left_sw;
|
||||
|
||||
}; /**< ardrone control status */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(ardrone_control);
|
||||
|
||||
#endif /* TOPIC_ARDRONE_CONTROL_H_ */
|
||||
@@ -0,0 +1,70 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 ardrone_motors_setpoint.h
|
||||
* Definition of the ardrone_motors_setpoint uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_ARDRONE_MOTORS_SETPOINT_H_
|
||||
#define TOPIC_ARDRONE_MOTORS_SETPOINT_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct ardrone_motors_setpoint_s
|
||||
{
|
||||
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
|
||||
|
||||
uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
|
||||
uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
|
||||
uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
|
||||
uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
|
||||
|
||||
}; /**< AR.Drone low level motors */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(ardrone_motors_setpoint);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,77 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 fixedwing_control.h
|
||||
* Definition of the fixedwing_control uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_FIXEDWING_CONTROL_H_
|
||||
#define TOPIC_FIXEDWING_CONTROL_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* fixed wing control status.
|
||||
*/
|
||||
struct fixedwing_control_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
|
||||
|
||||
float setpoint_rate_cast[3];
|
||||
float setpoint_attitude_rate[3];
|
||||
float setpoint_attitude[3];
|
||||
int16_t attitude_control_output[4]; /**< roll, pitch, yaw, throttle */
|
||||
float position_control_output[4];
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(fixedwing_control);
|
||||
|
||||
#endif //GLOBAL_DATA_FIXEDWING_CONTROL_T_H_
|
||||
@@ -0,0 +1,116 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
|
||||
* @author Ivan Ovinnikov <oivan@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 rc_channels.h
|
||||
* Definition of the rc_channels uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef RC_CHANNELS_H_
|
||||
#define RC_CHANNELS_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
enum RC_CHANNELS_STATUS
|
||||
{
|
||||
UNKNOWN = 0,
|
||||
KNOWN = 1,
|
||||
SIGNAL = 2,
|
||||
TIMEOUT = 3
|
||||
};
|
||||
|
||||
/**
|
||||
* This defines the mapping of the RC functions.
|
||||
* The value assigned to the specific function corresponds to the entry of
|
||||
* the channel array chan[].
|
||||
* Ex. To read out the scaled Pitch value:
|
||||
* pitch = global_data_rc_channels->chan[PITCH].scale;
|
||||
* The override is on channel 8, since we don't usually have a 12 channel RC
|
||||
* and channel 5/6 (GRAUPNER/FUTABA) are mapped to the second ROLL servo, which
|
||||
* can only be disabled on more advanced RC sets.
|
||||
*/
|
||||
enum RC_CHANNELS_FUNCTION
|
||||
{
|
||||
THROTTLE = 0,
|
||||
ROLL = 1,
|
||||
PITCH = 2,
|
||||
YAW = 3,
|
||||
OVERRIDE = 4,
|
||||
FUNC_0 = 5,
|
||||
FUNC_1 = 6,
|
||||
FUNC_2 = 7,
|
||||
FUNC_3 = 8,
|
||||
FUNC_4 = 9,
|
||||
FUNC_5 = 10,
|
||||
FUNC_6 = 11,
|
||||
RC_CHANNELS_FUNCTION_MAX = 12
|
||||
};
|
||||
|
||||
struct rc_channels_s {
|
||||
|
||||
uint64_t timestamp; /**< In microseconds since boot time. */
|
||||
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
|
||||
struct {
|
||||
uint16_t mid; /**< midpoint (0). */
|
||||
float scaling_factor; /**< scaling factor from raw counts to 0..1 */
|
||||
uint16_t raw; /**< current raw value */
|
||||
int16_t scale;
|
||||
float scaled; /**< Scaled */
|
||||
uint16_t override;
|
||||
enum RC_CHANNELS_STATUS status; /**< status of the channel */
|
||||
} chan[RC_CHANNELS_FUNCTION_MAX];
|
||||
uint8_t chan_count; /**< maximum number of valid channels */
|
||||
|
||||
/*String array to store the names of the functions*/
|
||||
const char function_name[RC_CHANNELS_FUNCTION_MAX][20];
|
||||
uint8_t function[RC_CHANNELS_FUNCTION_MAX];
|
||||
uint8_t rssi; /**< Overall receive signal strength */
|
||||
}; /**< radio control channels. */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(rc_channels);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,103 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 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 sensor_combined.h
|
||||
* Definition of the sensor_combined uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef SENSOR_COMBINED_H_
|
||||
#define SENSOR_COMBINED_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Sensor readings in raw and SI-unit form.
|
||||
*
|
||||
* These values are read from the sensors. Raw values are in sensor-specific units,
|
||||
* the scaled values are in SI-units, as visible from the ending of the variable
|
||||
* or the comments. The use of the SI fields is in general advised, as these fields
|
||||
* are scaled and offset-compensated where possible and do not change with board
|
||||
* revisions and sensor updates.
|
||||
*
|
||||
*/
|
||||
struct sensor_combined_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.
|
||||
*/
|
||||
|
||||
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
|
||||
|
||||
uint64_t timestamp; /**< Timestamp in microseconds since boot LOGME */
|
||||
|
||||
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity LOGME */
|
||||
uint16_t gyro_raw_counter; /**< Number of raw measurments taken LOGME */
|
||||
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds LOGME */
|
||||
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame LOGME */
|
||||
uint16_t accelerometer_raw_counter; /**< Number of raw acc measurements taken LOGME */
|
||||
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 LOGME */
|
||||
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame LOGME */
|
||||
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss LOGME */
|
||||
uint16_t magnetometer_raw_counter; /**< Number of raw mag measurements taken LOGME */
|
||||
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. LOGME */
|
||||
float baro_alt_meter; /**< Altitude, already temp. comp. LOGME */
|
||||
float baro_temp_celcius; /**< Temperature in degrees celsius LOGME */
|
||||
float battery_voltage_v; /**< Battery voltage in volts, filtered LOGME */
|
||||
float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 LOGME */
|
||||
uint16_t baro_raw_counter; /**< Number of raw baro measurements taken LOGME */
|
||||
uint16_t battery_voltage_counter; /**< Number of voltage measurements taken LOGME */
|
||||
bool battery_voltage_valid; /**< True if battery voltage can be measured LOGME */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(sensor_combined);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,92 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 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 vehicle_attitude.h
|
||||
* Definition of the attitude uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef VEHICLE_ATTITUDE_H_
|
||||
#define VEHICLE_ATTITUDE_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
*/
|
||||
|
||||
/**
|
||||
* Attitude in NED body frame in SI units.
|
||||
*
|
||||
* @see http://en.wikipedia.org/wiki/International_System_of_Units
|
||||
*/
|
||||
struct vehicle_attitude_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.
|
||||
*/
|
||||
uint64_t timestamp; /**< in microseconds since system start */
|
||||
|
||||
/* This is similar to the mavlink message ATTITUDE, but for onboard use */
|
||||
|
||||
/* @warning Roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
|
||||
|
||||
float roll; /**< Roll angle (rad, Tait-Bryan, NED) LOGME */
|
||||
float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) LOGME */
|
||||
float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) LOGME */
|
||||
float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) LOGME */
|
||||
float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) LOGME */
|
||||
float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) LOGME */
|
||||
float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
|
||||
float q[4]; /**< Quaternion (NED) */
|
||||
bool R_valid; /**< Rotation matrix valid */
|
||||
bool q_valid; /**< Quaternion valid */
|
||||
uint16_t counter; /**< Counter of all attitude messages (wraps) */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_attitude);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,77 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_attitude_setpoint.h
|
||||
* Definition of the vehicle attitude setpoint uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
|
||||
#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <uORB.h>
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* vehicle attitude setpoint.
|
||||
*/
|
||||
struct vehicle_attitude_setpoint_s
|
||||
{
|
||||
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
|
||||
|
||||
float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */
|
||||
float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */
|
||||
|
||||
float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
|
||||
bool R_valid; /**< Set to true if rotation matrix is valid */
|
||||
float thrust; /**< Thrust in Newton the power system should generate */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_attitude_setpoint);
|
||||
|
||||
#endif /* TOPIC_ARDRONE_CONTROL_H_ */
|
||||
@@ -0,0 +1,79 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 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 vehicle_command.h
|
||||
* Definition of the vehicle command uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_COMMAND_H_
|
||||
#define TOPIC_VEHICLE_COMMAND_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct vehicle_command_s
|
||||
{
|
||||
float param1; /**< Parameter 1, as defined by MAVLink MAV_CMD enum. */
|
||||
float param2; /**< Parameter 2, as defined by MAVLink MAV_CMD enum. */
|
||||
float param3; /**< Parameter 3, as defined by MAVLink MAV_CMD enum. */
|
||||
float param4; /**< Parameter 4, as defined by MAVLink MAV_CMD enum. */
|
||||
float param5; /**< Parameter 5, as defined by MAVLink MAV_CMD enum. */
|
||||
float param6; /**< Parameter 6, as defined by MAVLink MAV_CMD enum. */
|
||||
float param7; /**< Parameter 7, as defined by MAVLink MAV_CMD enum. */
|
||||
uint16_t command; /**< Command ID, as defined MAVLink by MAV_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
|
||||
@@ -0,0 +1,86 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 vehicle_global_position.h
|
||||
* Definition of the global fused WGS84 position uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef VEHICLE_GLOBAL_POSITION_T_H_
|
||||
#define VEHICLE_GLOBAL_POSITION_T_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Fused global position in WGS84.
|
||||
*
|
||||
* This struct contains the system's believ about its position. It is not the raw GPS
|
||||
* measurement (@see vehicle_gps_position). This topic is usually published by the position
|
||||
* estimator, which will take more sources of information into account than just GPS,
|
||||
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
*/
|
||||
struct vehicle_global_position_s
|
||||
{
|
||||
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
|
||||
uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
|
||||
bool valid; /**< true if position satisfies validity criteria of estimator */
|
||||
|
||||
int32_t lat; /**< Latitude in 1E7 degrees LOGME */
|
||||
int32_t lon; /**< Longitude in 1E7 degrees LOGME */
|
||||
float alt; /**< Altitude in meters LOGME */
|
||||
float relative_alt; /**< Altitude above home position in meters, LOGME */
|
||||
float vx; /**< Ground X Speed (Latitude), m/s in ENU LOGME */
|
||||
float vy; /**< Ground Y Speed (Longitude), m/s in ENU LOGME */
|
||||
float vz; /**< Ground Z Speed (Altitude), m/s in ENU LOGME */
|
||||
float hdg; /**< Compass heading in radians -PI..+PI. */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_global_position);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,78 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 vehicle_global_position_setpoint.h
|
||||
* Definition of the global WGS84 position setpoint uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
|
||||
#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Global position setpoint in WGS84 coordinates.
|
||||
*
|
||||
* This is the position the MAV is heading towards. If it of type loiter,
|
||||
* the MAV is circling around it with the given loiter radius in meters.
|
||||
*/
|
||||
struct vehicle_global_position_setpoint_s
|
||||
{
|
||||
bool altitude_is_relative; /**< true if altitude is relative from start point */
|
||||
int32_t lat; /**< latitude in degrees * 1E7 */
|
||||
int32_t lon; /**< longitude in degrees * 1E7 */
|
||||
float altitude; /**< altitude in meters */
|
||||
float yaw; /**< in radians NED -PI..+PI */
|
||||
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
|
||||
bool is_loiter; /**< true if loitering is enabled */
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_global_position_setpoint);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,89 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 vehicle_gps_position.h
|
||||
* Definition of the GPS WGS84 uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_GPS_H_
|
||||
#define TOPIC_VEHICLE_GPS_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* GPS position in WGS84 coordinates.
|
||||
*/
|
||||
struct vehicle_gps_position_s
|
||||
{
|
||||
uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
|
||||
uint32_t counter; /**< Count of GPS messages */
|
||||
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
|
||||
|
||||
int32_t lat; /**< Latitude in 1E7 degrees //LOGME */
|
||||
int32_t lon; /**< Longitude in 1E7 degrees //LOGME */
|
||||
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL //LOGME */
|
||||
uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */
|
||||
uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */
|
||||
uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
|
||||
uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */
|
||||
uint16_t cog; /**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */
|
||||
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
|
||||
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]; /**< Signal to noise ratio of satellite */
|
||||
uint8_t satellite_info_available; /**< 0 for no info, 1 for info available */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_gps_position);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,87 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_local_position.h
|
||||
* Definition of the local fused NED position uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
|
||||
#define TOPIC_VEHICLE_LOCAL_POSITION_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Fused local position in NED.
|
||||
*/
|
||||
struct vehicle_local_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 absolute_alt; /**< Altitude as defined by pressure / GPS, LOGME */
|
||||
float vx; /**< Ground X Speed (Latitude), m/s in NED LOGME */
|
||||
float vy; /**< Ground Y Speed (Longitude), m/s in NED LOGME */
|
||||
float vz; /**< Ground Z Speed (Altitude), m/s in NED LOGME */
|
||||
float hdg; /**< Compass heading in radians -PI..+PI. */
|
||||
|
||||
// TODO Add covariances here
|
||||
|
||||
/* Reference position in GPS / WGS84 frame */
|
||||
uint64_t home_timestamp;/**< Time when home position was set */
|
||||
int32_t home_lat; /**< Latitude in 1E7 degrees LOGME */
|
||||
int32_t home_lon; /**< Longitude in 1E7 degrees LOGME */
|
||||
float home_alt; /**< Altitude in meters LOGME */
|
||||
float home_hdg; /**< Compass heading in radians -PI..+PI. */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_local_position);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,67 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 vehicle_local_position_setpoint.h
|
||||
* Definition of the local NED position setpoint uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
|
||||
#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
|
||||
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct vehicle_local_position_setpoint_s
|
||||
{
|
||||
float x; /**< in meters NED */
|
||||
float y; /**< in meters NED */
|
||||
float z; /**< in meters NED */
|
||||
float yaw; /**< in radians NED -PI..+PI */
|
||||
}; /**< Local position in NED frame to go to */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_local_position_setpoint);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,140 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author 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 vehicle_status.h
|
||||
* Definition of the vehicle_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) --> vehicle_status --> (mavlink app)
|
||||
*/
|
||||
|
||||
#ifndef VEHICLE_STATUS_H_
|
||||
#define VEHICLE_STATUS_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics @{
|
||||
*/
|
||||
|
||||
/* State Machine */
|
||||
typedef enum
|
||||
{
|
||||
SYSTEM_STATE_PREFLIGHT = 0,
|
||||
SYSTEM_STATE_STANDBY = 1,
|
||||
SYSTEM_STATE_GROUND_READY = 2,
|
||||
SYSTEM_STATE_MANUAL = 3,
|
||||
SYSTEM_STATE_STABILIZED = 4,
|
||||
SYSTEM_STATE_AUTO = 5,
|
||||
SYSTEM_STATE_MISSION_ABORT = 6,
|
||||
SYSTEM_STATE_EMCY_LANDING = 7,
|
||||
SYSTEM_STATE_EMCY_CUTOFF = 8,
|
||||
SYSTEM_STATE_GROUND_ERROR = 9,
|
||||
SYSTEM_STATE_REBOOT= 10,
|
||||
|
||||
} commander_state_machine_t;
|
||||
|
||||
enum VEHICLE_MODE_FLAG {
|
||||
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
|
||||
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
|
||||
VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
|
||||
VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16,
|
||||
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
|
||||
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
|
||||
VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
|
||||
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
|
||||
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
|
||||
|
||||
/**
|
||||
* state machine / state of vehicle.
|
||||
*
|
||||
* Encodes the complete system state and is set by the commander app.
|
||||
*/
|
||||
struct vehicle_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 */
|
||||
|
||||
commander_state_machine_t state_machine;
|
||||
uint8_t mode;
|
||||
|
||||
bool control_manual_enabled; /**< true if manual input is mixed in */
|
||||
bool control_rates_enabled; /**< true if rates are stabilized */
|
||||
bool control_attitude_enabled; /**< true if attitude stabilization is mixed in */
|
||||
bool control_speed_enabled; /**< true if speed (implies direction) is controlled */
|
||||
bool control_position_enabled; /**< true if position is controlled */
|
||||
|
||||
bool preflight_gyro_calibration; /**< true if gyro calibration is requested */
|
||||
bool preflight_mag_calibration; /**< true if mag calibration is requested */
|
||||
|
||||
/* see SYS_STATUS mavlink message for the following */
|
||||
uint32_t onboard_control_sensors_present;
|
||||
uint32_t onboard_control_sensors_enabled;
|
||||
uint32_t onboard_control_sensors_health;
|
||||
uint16_t load;
|
||||
uint16_t voltage_battery;
|
||||
int16_t current_battery;
|
||||
int8_t battery_remaining;
|
||||
uint16_t drop_rate_comm;
|
||||
uint16_t errors_comm;
|
||||
uint16_t errors_count1;
|
||||
uint16_t errors_count2;
|
||||
uint16_t errors_count3;
|
||||
uint16_t errors_count4;
|
||||
|
||||
// bool remote_manual; /**< set to true by the commander when the manual-switch on the remote is set to manual */
|
||||
bool gps_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_status);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,969 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 A lightweight object broker.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/wqueue.h>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <arch/board/up_hrt.h>
|
||||
|
||||
#include <drivers/drv_orb_dev.h>
|
||||
|
||||
#include "uORB.h"
|
||||
|
||||
/**
|
||||
* Utility functions.
|
||||
*/
|
||||
namespace
|
||||
{
|
||||
|
||||
static const unsigned orb_maxpath = 64;
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
#ifdef ERROR
|
||||
# undef ERROR
|
||||
#endif
|
||||
const int ERROR = -1;
|
||||
|
||||
enum Flavor {
|
||||
PUBSUB,
|
||||
PARAM
|
||||
};
|
||||
|
||||
int
|
||||
node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta)
|
||||
{
|
||||
unsigned len;
|
||||
|
||||
len = snprintf(buf, orb_maxpath, "/%s/%s",
|
||||
(f == PUBSUB) ? "obj" : "param",
|
||||
meta->o_name);
|
||||
|
||||
if (len >= orb_maxpath)
|
||||
return -ENAMETOOLONG;
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Per-object device instance.
|
||||
*/
|
||||
class ORBDevNode : public device::CDev
|
||||
{
|
||||
public:
|
||||
ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path);
|
||||
~ORBDevNode();
|
||||
|
||||
virtual int open(struct file *filp);
|
||||
virtual int close(struct file *filp);
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
protected:
|
||||
virtual pollevent_t poll_state(struct file *filp);
|
||||
virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
|
||||
|
||||
private:
|
||||
struct SubscriberData {
|
||||
unsigned generation; /**< last generation the subscriber has seen */
|
||||
unsigned update_interval; /**< if nonzero minimum interval between updates */
|
||||
struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
|
||||
void *poll_priv; /**< saved copy of fds->f_priv while poll is active */
|
||||
bool update_reported; /**< true if we have reported the update via poll/check */
|
||||
};
|
||||
|
||||
const struct orb_metadata *_meta; /**< object metadata information */
|
||||
uint8_t *_data; /**< allocated object buffer */
|
||||
hrt_abstime _last_update; /**< time the object was last updated */
|
||||
volatile unsigned _generation; /**< object generation count */
|
||||
pid_t _publisher; /**< if nonzero, current publisher */
|
||||
|
||||
SubscriberData *filp_to_sd(struct file *filp) {
|
||||
SubscriberData *sd = (SubscriberData *)(filp->f_priv);
|
||||
return sd;
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform a deferred update for a rate-limited subscriber.
|
||||
*/
|
||||
void update_deferred();
|
||||
|
||||
/**
|
||||
* Bridge from hrt_call to update_deferred
|
||||
*
|
||||
* void *arg ORBDevNode pointer for which the deferred update is performed.
|
||||
*/
|
||||
static void update_deferred_trampoline(void *arg);
|
||||
|
||||
/**
|
||||
* Check whether a topic appears updated to a subscriber.
|
||||
*
|
||||
* @param sd The subscriber for whom to check.
|
||||
* @return True if the topic should appear updated to the subscriber
|
||||
*/
|
||||
bool appears_updated(SubscriberData *sd);
|
||||
};
|
||||
|
||||
ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path) :
|
||||
CDev(name, path),
|
||||
_meta(meta),
|
||||
_data(nullptr),
|
||||
_last_update(0),
|
||||
_generation(0),
|
||||
_publisher(0)
|
||||
{
|
||||
// enable debug() calls
|
||||
_debug_enabled = true;
|
||||
}
|
||||
|
||||
ORBDevNode::~ORBDevNode()
|
||||
{
|
||||
if (_data != nullptr)
|
||||
delete[] _data;
|
||||
}
|
||||
|
||||
int
|
||||
ORBDevNode::open(struct file *filp)
|
||||
{
|
||||
int ret;
|
||||
|
||||
/* is this a publisher? */
|
||||
if (filp->f_oflags == O_WRONLY) {
|
||||
|
||||
/* become the publisher if we can */
|
||||
lock();
|
||||
|
||||
if (_publisher == 0) {
|
||||
_publisher = getpid();
|
||||
ret = OK;
|
||||
|
||||
} else {
|
||||
ret = -EBUSY;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
/* now complete the open */
|
||||
if (ret == OK) {
|
||||
ret = CDev::open(filp);
|
||||
|
||||
/* open failed - not the publisher anymore */
|
||||
if (ret != OK)
|
||||
_publisher = 0;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* is this a new subscriber? */
|
||||
if (filp->f_oflags == O_RDONLY) {
|
||||
|
||||
/* allocate subscriber data */
|
||||
SubscriberData *sd = new SubscriberData;
|
||||
|
||||
if (nullptr == sd)
|
||||
return -ENOMEM;
|
||||
|
||||
memset(sd, 0, sizeof(*sd));
|
||||
|
||||
/* default to no pending update */
|
||||
sd->generation = _generation;
|
||||
|
||||
filp->f_priv = (void *)sd;
|
||||
|
||||
ret = CDev::open(filp);
|
||||
|
||||
if (ret != OK)
|
||||
free(sd);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* can only be pub or sub, not both */
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
int
|
||||
ORBDevNode::close(struct file *filp)
|
||||
{
|
||||
/* is this the publisher closing? */
|
||||
if (getpid() == _publisher) {
|
||||
_publisher = 0;
|
||||
|
||||
} else {
|
||||
SubscriberData *sd = filp_to_sd(filp);
|
||||
|
||||
if (sd != nullptr)
|
||||
delete sd;
|
||||
}
|
||||
|
||||
return CDev::close(filp);
|
||||
}
|
||||
|
||||
ssize_t
|
||||
ORBDevNode::read(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
|
||||
|
||||
/* if the object has not been written yet, return zero */
|
||||
if (_data == nullptr)
|
||||
return 0;
|
||||
|
||||
/* if the caller's buffer is the wrong size, that's an error */
|
||||
if (buflen != _meta->o_size)
|
||||
return -EIO;
|
||||
|
||||
/*
|
||||
* Perform an atomic copy & state update
|
||||
*/
|
||||
irqstate_t flags = irqsave();
|
||||
|
||||
/* if the caller doesn't want the data, don't give it to them */
|
||||
if (nullptr != buffer)
|
||||
memcpy(buffer, _data, _meta->o_size);
|
||||
|
||||
/* track the last generation that the file has seen */
|
||||
sd->generation = _generation;
|
||||
|
||||
/*
|
||||
* Clear the flag that indicates that an update has been reported, as
|
||||
* we have just collected it.
|
||||
*/
|
||||
sd->update_reported = false;
|
||||
|
||||
irqrestore(flags);
|
||||
|
||||
return _meta->o_size;
|
||||
}
|
||||
|
||||
ssize_t
|
||||
ORBDevNode::write(struct file *filp, const char *buffer, size_t buflen)
|
||||
{
|
||||
/*
|
||||
* Writes are legal from interrupt context as long as the
|
||||
* object has already been initialised from thread context.
|
||||
*
|
||||
* Writes outside interrupt context will allocate the object
|
||||
* if it has not yet been allocated.
|
||||
*/
|
||||
if (nullptr == _data) {
|
||||
if (!up_interrupt_context()) {
|
||||
|
||||
lock();
|
||||
|
||||
/* re-check size */
|
||||
if (nullptr == _data)
|
||||
_data = new uint8_t[_meta->o_size];
|
||||
|
||||
unlock();
|
||||
}
|
||||
|
||||
/* failed or could not allocate */
|
||||
if (nullptr == _data)
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
/* If write size does not match, that is an error */
|
||||
if (_meta->o_size != buflen)
|
||||
return -EIO;
|
||||
|
||||
/* Perform an atomic copy. */
|
||||
irqstate_t flags = irqsave();
|
||||
memcpy(_data, buffer, _meta->o_size);
|
||||
irqrestore(flags);
|
||||
|
||||
/* update the timestamp and generation count */
|
||||
_last_update = hrt_absolute_time();
|
||||
_generation++;
|
||||
|
||||
/* notify any poll waiters */
|
||||
poll_notify(POLLIN);
|
||||
|
||||
return _meta->o_size;
|
||||
}
|
||||
|
||||
int
|
||||
ORBDevNode::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
SubscriberData *sd = filp_to_sd(filp);
|
||||
|
||||
switch (cmd) {
|
||||
case ORBIOCLASTUPDATE:
|
||||
*(hrt_abstime *)arg = _last_update;
|
||||
return OK;
|
||||
|
||||
case ORBIOCUPDATED:
|
||||
*(bool *)arg = appears_updated(sd);
|
||||
return OK;
|
||||
|
||||
case ORBIOCSETINTERVAL:
|
||||
sd->update_interval = arg;
|
||||
return OK;
|
||||
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
|
||||
pollevent_t
|
||||
ORBDevNode::poll_state(struct file *filp)
|
||||
{
|
||||
SubscriberData *sd = filp_to_sd(filp);
|
||||
|
||||
/*
|
||||
* If the topic appears updated to the subscriber, say so.
|
||||
*/
|
||||
if (appears_updated(sd))
|
||||
return POLLIN;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
ORBDevNode::poll_notify_one(struct pollfd *fds, pollevent_t events)
|
||||
{
|
||||
SubscriberData *sd = filp_to_sd((struct file *)fds->priv);
|
||||
|
||||
/*
|
||||
* If the topic looks updated to the subscriber, go ahead and notify them.
|
||||
*/
|
||||
if (appears_updated(sd))
|
||||
CDev::poll_notify_one(fds, events);
|
||||
}
|
||||
|
||||
bool
|
||||
ORBDevNode::appears_updated(SubscriberData *sd)
|
||||
{
|
||||
/* assume it doesn't look updated */
|
||||
bool ret = false;
|
||||
|
||||
/* avoid racing between interrupt and non-interrupt context calls */
|
||||
irqstate_t state = irqsave();
|
||||
|
||||
/*
|
||||
* If the subscriber's generation count matches the update generation
|
||||
* count, there has been no update from their perspective; if they
|
||||
* don't match then we might have a visible update.
|
||||
*/
|
||||
while (sd->generation != _generation) {
|
||||
|
||||
/*
|
||||
* Handle non-rate-limited subscribers.
|
||||
*/
|
||||
if (sd->update_interval == 0) {
|
||||
ret = true;
|
||||
break;
|
||||
}
|
||||
|
||||
/*
|
||||
* If we have previously told the subscriber that there is data,
|
||||
* and they have not yet collected it, continue to tell them
|
||||
* that there has been an update. This mimics the non-rate-limited
|
||||
* behaviour where checking / polling continues to report an update
|
||||
* until the topic is read.
|
||||
*/
|
||||
if (sd->update_reported) {
|
||||
ret = true;
|
||||
break;
|
||||
}
|
||||
|
||||
/*
|
||||
* If the interval timer is still running, the topic should not
|
||||
* appear updated, even though at this point we know that it has.
|
||||
* We have previously been through here, so the subscriber
|
||||
* must have collected the update we reported, otherwise
|
||||
* update_reported would still be true.
|
||||
*/
|
||||
if (!hrt_called(&sd->update_call))
|
||||
break;
|
||||
|
||||
/*
|
||||
* Make sure that we don't consider the topic to be updated again
|
||||
* until the interval has passed once more by restarting the interval
|
||||
* timer and thereby re-scheduling a poll notification at that time.
|
||||
*/
|
||||
hrt_call_after(&sd->update_call,
|
||||
sd->update_interval,
|
||||
&ORBDevNode::update_deferred_trampoline,
|
||||
(void *)this);
|
||||
|
||||
/*
|
||||
* Remember that we have told the subscriber that there is data.
|
||||
*/
|
||||
sd->update_reported = true;
|
||||
ret = true;
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
irqrestore(state);
|
||||
|
||||
/* consider it updated */
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
ORBDevNode::update_deferred()
|
||||
{
|
||||
/*
|
||||
* Instigate a poll notification; any subscribers whose intervals have
|
||||
* expired will be woken.
|
||||
*/
|
||||
poll_notify(POLLIN);
|
||||
}
|
||||
|
||||
void
|
||||
ORBDevNode::update_deferred_trampoline(void *arg)
|
||||
{
|
||||
ORBDevNode *node = (ORBDevNode *)arg;
|
||||
|
||||
node->update_deferred();
|
||||
}
|
||||
|
||||
/**
|
||||
* Master control device for ObjDev.
|
||||
*
|
||||
* Used primarily to create new objects via the ORBIOCCREATE
|
||||
* ioctl.
|
||||
*/
|
||||
class ORBDevMaster : public device::CDev
|
||||
{
|
||||
public:
|
||||
ORBDevMaster(Flavor f);
|
||||
~ORBDevMaster();
|
||||
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
private:
|
||||
Flavor _flavor;
|
||||
};
|
||||
|
||||
ORBDevMaster::ORBDevMaster(Flavor f) :
|
||||
CDev((f == PUBSUB) ? "obj_master" : "param_master",
|
||||
(f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
|
||||
_flavor(f)
|
||||
{
|
||||
// enable debug() calls
|
||||
_debug_enabled = true;
|
||||
|
||||
}
|
||||
|
||||
ORBDevMaster::~ORBDevMaster()
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
switch (cmd) {
|
||||
case ORBIOCADVERTISE: {
|
||||
const struct orb_metadata *meta = (const struct orb_metadata *)arg;
|
||||
const char *objname;
|
||||
char nodepath[orb_maxpath];
|
||||
ORBDevNode *node;
|
||||
|
||||
/* construct a path to the node - this also checks the node name */
|
||||
ret = node_mkpath(nodepath, _flavor, meta);
|
||||
|
||||
if (ret != OK)
|
||||
return ret;
|
||||
|
||||
/* driver wants a permanent copy of the node name, so make one here */
|
||||
objname = strdup(meta->o_name);
|
||||
|
||||
if (objname == nullptr)
|
||||
return -ENOMEM;
|
||||
|
||||
/* construct the new node */
|
||||
node = new ORBDevNode(meta, objname, nodepath);
|
||||
|
||||
/* initialise the node - this may fail if e.g. a node with this name already exists */
|
||||
if (node != nullptr)
|
||||
ret = node->init();
|
||||
|
||||
/* if we didn't get a device, that's bad */
|
||||
if (node == nullptr)
|
||||
return -ENOMEM;
|
||||
|
||||
/* if init failed, discard the node and its name */
|
||||
if (ret != OK) {
|
||||
delete node;
|
||||
free((void *)objname);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
|
||||
namespace
|
||||
{
|
||||
|
||||
ORBDevMaster *g_dev;
|
||||
|
||||
struct orb_test {
|
||||
int val;
|
||||
};
|
||||
|
||||
ORB_DEFINE(orb_test, struct orb_test);
|
||||
|
||||
int
|
||||
test_fail(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
|
||||
fprintf(stderr, "FAIL: ");
|
||||
va_start(ap, fmt);
|
||||
vfprintf(stderr, fmt, ap);
|
||||
va_end(ap);
|
||||
fprintf(stderr, "\n");
|
||||
fflush(stderr);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
int
|
||||
test_note(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
|
||||
fprintf(stderr, "note: ");
|
||||
va_start(ap, fmt);
|
||||
vfprintf(stderr, fmt, ap);
|
||||
va_end(ap);
|
||||
fprintf(stderr, "\n");
|
||||
fflush(stderr);
|
||||
return OK;
|
||||
}
|
||||
|
||||
ORB_DECLARE(sensor_combined);
|
||||
|
||||
int
|
||||
test()
|
||||
{
|
||||
struct orb_test t, u;
|
||||
int pfd, sfd;
|
||||
bool updated;
|
||||
|
||||
t.val = 0;
|
||||
pfd = orb_advertise(ORB_ID(orb_test), &t);
|
||||
|
||||
if (pfd < 0)
|
||||
return test_fail("advertise failed: %d", errno);
|
||||
|
||||
test_note("publish fd %d", pfd);
|
||||
sfd = orb_subscribe(ORB_ID(orb_test));
|
||||
|
||||
if (sfd < 0)
|
||||
return test_fail("subscribe failed: %d", errno);
|
||||
|
||||
test_note("subscribe fd %d", sfd);
|
||||
u.val = 1;
|
||||
|
||||
if (OK != orb_copy(ORB_ID(orb_test), sfd, &u))
|
||||
return test_fail("copy(1) failed: %d", errno);
|
||||
|
||||
if (u.val != t.val)
|
||||
return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
|
||||
|
||||
if (OK != orb_check(sfd, &updated))
|
||||
return test_fail("check(1) failed");
|
||||
|
||||
if (updated)
|
||||
return test_fail("spurious updated flag");
|
||||
|
||||
t.val = 2;
|
||||
test_note("try publish");
|
||||
|
||||
if (OK != orb_publish(ORB_ID(orb_test), pfd, &t))
|
||||
return test_fail("publish failed");
|
||||
|
||||
if (OK != orb_check(sfd, &updated))
|
||||
return test_fail("check(2) failed");
|
||||
|
||||
if (!updated)
|
||||
return test_fail("missing updated flag");
|
||||
|
||||
if (OK != orb_copy(ORB_ID(orb_test), sfd, &u))
|
||||
return test_fail("copy(2) failed: %d", errno);
|
||||
|
||||
if (u.val != t.val)
|
||||
return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
|
||||
|
||||
orb_unsubscribe(sfd);
|
||||
close(pfd);
|
||||
|
||||
#if 0
|
||||
/* this is a hacky test that exploits the sensors app to test rate-limiting */
|
||||
|
||||
sfd = orb_subscribe(ORB_ID(sensor_combined));
|
||||
|
||||
hrt_abstime start, end;
|
||||
unsigned count;
|
||||
|
||||
start = hrt_absolute_time();
|
||||
count = 0;
|
||||
|
||||
do {
|
||||
orb_check(sfd, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(sensor_combined), sfd, nullptr);
|
||||
count++;
|
||||
}
|
||||
} while (count < 100);
|
||||
|
||||
end = hrt_absolute_time();
|
||||
test_note("full-speed, 100 updates in %llu", end - start);
|
||||
|
||||
orb_set_interval(sfd, 10);
|
||||
|
||||
start = hrt_absolute_time();
|
||||
count = 0;
|
||||
|
||||
do {
|
||||
orb_check(sfd, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(sensor_combined), sfd, nullptr);
|
||||
count++;
|
||||
}
|
||||
} while (count < 100);
|
||||
|
||||
end = hrt_absolute_time();
|
||||
test_note("100Hz, 100 updates in %llu", end - start);
|
||||
|
||||
orb_unsubscribe(sfd);
|
||||
#endif
|
||||
|
||||
return test_note("PASS");
|
||||
}
|
||||
|
||||
int
|
||||
info()
|
||||
{
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
||||
} // namespace
|
||||
|
||||
/*
|
||||
* uORB server 'main'.
|
||||
*/
|
||||
extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
|
||||
|
||||
int
|
||||
uorb_main(int argc, char *argv[])
|
||||
{
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*
|
||||
* XXX it would be nice to have a wrapper for this...
|
||||
*/
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
fprintf(stderr, "[uorb] already loaded\n");
|
||||
return -EBUSY;
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new ORBDevMaster(PUBSUB);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
fprintf(stderr, "[uorb] driver alloc failed\n");
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
fprintf(stderr, "[uorb] driver init failed\n");
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
printf("[uorb] ready\n");
|
||||
return OK;
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test"))
|
||||
return test();
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info"))
|
||||
return info();
|
||||
|
||||
fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n");
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
/*
|
||||
* Library functions.
|
||||
*/
|
||||
namespace
|
||||
{
|
||||
|
||||
void debug(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
|
||||
va_start(ap, fmt);
|
||||
vfprintf(stderr, fmt, ap);
|
||||
va_end(ap);
|
||||
fprintf(stderr, "\n");
|
||||
fflush(stderr);
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
/**
|
||||
* Advertise a node; don't consider it an error if the node has
|
||||
* already been advertised.
|
||||
*
|
||||
* @todo verify that the existing node is the same as the one
|
||||
* we tried to advertise.
|
||||
*/
|
||||
int
|
||||
node_advertise(const struct orb_metadata *meta)
|
||||
{
|
||||
int fd = -1;
|
||||
int ret = ERROR;
|
||||
|
||||
/* open the control device */
|
||||
fd = open(TOPIC_MASTER_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0)
|
||||
goto out;
|
||||
|
||||
/* advertise the object */
|
||||
ret = ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)meta);
|
||||
|
||||
/* it's OK if it already exists */
|
||||
if ((OK != ret) && (EEXIST == errno))
|
||||
ret = OK;
|
||||
|
||||
out:
|
||||
|
||||
if (fd >= 0)
|
||||
close(fd);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* Common implementation for orb_advertise and orb_subscribe.
|
||||
*
|
||||
* Handles creation of the object and the initial publication for
|
||||
* advertisers.
|
||||
*/
|
||||
int
|
||||
node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool advertiser)
|
||||
{
|
||||
char path[orb_maxpath];
|
||||
int fd, ret;
|
||||
|
||||
/*
|
||||
* If meta is null, the object was not defined, i.e. it is not
|
||||
* known to the system. We can't advertise/subscribe such a thing.
|
||||
*/
|
||||
if (nullptr == meta) {
|
||||
errno = ENOENT;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/*
|
||||
* Advertiser must publish an initial value.
|
||||
*/
|
||||
if (advertiser && (data == nullptr)) {
|
||||
errno = EINVAL;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/*
|
||||
* Generate the path to the node and try to open it.
|
||||
*/
|
||||
ret = node_mkpath(path, f, meta);
|
||||
|
||||
if (ret != OK) {
|
||||
errno = -ret;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* open the path as either the advertiser or the subscriber */
|
||||
fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
|
||||
|
||||
/* we may need to advertise the node... */
|
||||
if (fd < 0) {
|
||||
|
||||
/* try to create the node */
|
||||
ret = node_advertise(meta);
|
||||
|
||||
/* on success, try the open again */
|
||||
if (ret == OK)
|
||||
fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
|
||||
}
|
||||
|
||||
if (fd < 0) {
|
||||
errno = EIO;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* the advertiser must perform an initial publish to initialise the object */
|
||||
if (advertiser) {
|
||||
ret = orb_publish(meta, fd, data);
|
||||
|
||||
if (ret != OK) {
|
||||
/* save errno across the close */
|
||||
ret = errno;
|
||||
close(fd);
|
||||
errno = ret;
|
||||
return ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
/* everything has been OK, we can return the handle now */
|
||||
return fd;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
orb_advertise(const struct orb_metadata *meta, const void *data)
|
||||
{
|
||||
return node_open(PUBSUB, meta, data, true);
|
||||
}
|
||||
|
||||
int
|
||||
orb_subscribe(const struct orb_metadata *meta)
|
||||
{
|
||||
return node_open(PUBSUB, meta, nullptr, false);
|
||||
}
|
||||
|
||||
int
|
||||
orb_unsubscribe(int handle)
|
||||
{
|
||||
return close(handle);
|
||||
}
|
||||
|
||||
int
|
||||
orb_publish(const struct orb_metadata *meta, int handle, const void *data)
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = write(handle, data, meta->o_size);
|
||||
|
||||
if (ret < 0)
|
||||
return ERROR;
|
||||
|
||||
if (ret != (int)meta->o_size) {
|
||||
errno = EIO;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = read(handle, buffer, meta->o_size);
|
||||
|
||||
if (ret < 0)
|
||||
return ERROR;
|
||||
|
||||
if (ret != (int)meta->o_size) {
|
||||
errno = EIO;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
orb_check(int handle, bool *updated)
|
||||
{
|
||||
return ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
|
||||
}
|
||||
|
||||
int
|
||||
orb_stat(int handle, uint64_t *time)
|
||||
{
|
||||
return ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
|
||||
}
|
||||
|
||||
int
|
||||
orb_set_interval(int handle, unsigned interval)
|
||||
{
|
||||
return ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,248 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef _UORB_UORB_H
|
||||
#define _UORB_UORB_H
|
||||
|
||||
/**
|
||||
* @file API for the uORB lightweight object broker.
|
||||
*/
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
// Hack until parameter storage is cleaned up
|
||||
#include "parameter_storage.h"
|
||||
|
||||
// Hack until everything is using this header
|
||||
#include <systemlib/visibility.h>
|
||||
|
||||
/**
|
||||
* Object metadata.
|
||||
*/
|
||||
struct orb_metadata {
|
||||
const char *o_name; /**< unique object name */
|
||||
const size_t o_size; /**< object size */
|
||||
};
|
||||
|
||||
/**
|
||||
* Generates a pointer to the uORB metadata structure for
|
||||
* a given topic.
|
||||
*
|
||||
* The topic must have been declared previously in scope
|
||||
* with ORB_DECLARE().
|
||||
*
|
||||
* @param _name The name of the topic.
|
||||
*/
|
||||
#define ORB_ID(_name) &__orb_##_name
|
||||
|
||||
/**
|
||||
* Declare (prototype) the uORB metadata for a topic.
|
||||
*
|
||||
* Note that optional topics are declared weak; this allows a potential
|
||||
* subscriber to attempt to subscribe to a topic that is not known to the
|
||||
* system at runtime. The ORB_ID() macro will return NULL/nullptr for
|
||||
* such a topic, and attempts to advertise or subscribe to it will
|
||||
* return -1/ENOENT (see below).
|
||||
*
|
||||
* @param _name The name of the topic.
|
||||
*/
|
||||
#if defined(__cplusplus)
|
||||
# define ORB_DECLARE(_name) extern "C" const struct orb_metadata __orb_##_name __EXPORT
|
||||
# define ORB_DECLARE_OPTIONAL(_name) extern "C" const struct orb_metadata __orb_##_name __EXPORT __attribute__((weak))
|
||||
#else
|
||||
# define ORB_DECLARE(_name) extern const struct orb_metadata __orb_##_name __EXPORT
|
||||
# define ORB_DECLARE_OPTIONAL(_name) extern const struct orb_metadata __orb_##_name __EXPORT __attribute__((weak))
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Define (instantiate) the uORB metadata for a topic.
|
||||
*
|
||||
* The uORB metadata is used to help ensure that updates and
|
||||
* copies are accessing the right data.
|
||||
*
|
||||
* Note that there must be no more than one instance of this macro
|
||||
* for each topic.
|
||||
*
|
||||
* @param _name The name of the topic.
|
||||
* @param _struct The structure the topic provides.
|
||||
*/
|
||||
#define ORB_DEFINE(_name, _struct) \
|
||||
const struct orb_metadata __orb_##_name = { \
|
||||
#_name, \
|
||||
sizeof(_struct) \
|
||||
}; struct hack
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/**
|
||||
* Advertise as the publisher of a topic.
|
||||
*
|
||||
* This performs the initial advertisement of a topic; it creates the topic
|
||||
* node in /obj if required and publishes the initial data.
|
||||
*
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
* @param data A pointer to the initial data to be published.
|
||||
* For topics updated by interrupt handlers, the advertisement
|
||||
* must be performed from non-interrupt context.
|
||||
* @return ERROR on error, otherwise returns a handle
|
||||
* that can be used to publish to the topic.
|
||||
* If the topic in question is not known (due to an
|
||||
* ORB_DEFINE with no corresponding ORB_DECLARE)
|
||||
* this function will return -1 and set errno to ENOENT.
|
||||
*/
|
||||
extern int orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
|
||||
|
||||
/**
|
||||
* Publish new data to a topic.
|
||||
*
|
||||
* The data is atomically published to the topic and any waiting subscribers
|
||||
* will be notified. Subscribers that are not waiting can check the topic
|
||||
* for updates using orb_check and/or orb_stat.
|
||||
*
|
||||
* @handle The handle returned from orb_advertise.
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
* @param data A pointer to the data to be published.
|
||||
* @return OK on success, ERROR otherwise with errno set accordingly.
|
||||
*/
|
||||
extern int orb_publish(const struct orb_metadata *meta, int handle, const void *data) __EXPORT;
|
||||
|
||||
/**
|
||||
* Subscribe to a topic.
|
||||
*
|
||||
* The returned value is a file descriptor that can be passed to poll()
|
||||
* in order to wait for updates to a topic, as well as topic_read,
|
||||
* orb_check and orb_stat.
|
||||
*
|
||||
* Subscription will succeed even if the topic has not been advertised;
|
||||
* in this case the topic will have a timestamp of zero, it will never
|
||||
* signal a poll() event, checking will always return false and it cannot
|
||||
* be copied. When the topic is subsequently advertised, poll, check,
|
||||
* stat and copy calls will react to the initial publication that is
|
||||
* performed as part of the advertisement.
|
||||
*
|
||||
* Subscription will fail if the topic is not known to the system, i.e.
|
||||
* there is nothing in the system that has declared the topic and thus it
|
||||
* can never be published.
|
||||
*
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
* @return ERROR on error, otherwise returns a handle
|
||||
* that can be used to read and update the topic.
|
||||
* If the topic in question is not known (due to an
|
||||
* ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
|
||||
* this function will return -1 and set errno to ENOENT.
|
||||
*/
|
||||
extern int orb_subscribe(const struct orb_metadata *meta) __EXPORT;
|
||||
|
||||
/**
|
||||
* Unsubscribe from a topic.
|
||||
*
|
||||
* @param handle A handle returned from orb_subscribe.
|
||||
* @return OK on success, ERROR otherwise with errno set accordingly.
|
||||
*/
|
||||
extern int orb_unsubscribe(int handle) __EXPORT;
|
||||
|
||||
/**
|
||||
* Fetch data from a topic.
|
||||
*
|
||||
* This is the only operation that will reset the internal marker that
|
||||
* indicates that a topic has been updated for a subscriber. Once poll
|
||||
* or check return indicating that an updaet is available, this call
|
||||
* must be used to update the subscription.
|
||||
*
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
* @param handle A handle returned from orb_subscribe.
|
||||
* @param buffer Pointer to the buffer receiving the data, or NULL
|
||||
* if the caller wants to clear the updated flag without
|
||||
* using the data.
|
||||
* @return OK on success, ERROR otherwise with errno set accordingly.
|
||||
*/
|
||||
extern int orb_copy(const struct orb_metadata *meta, int handle, void *buffer) __EXPORT;
|
||||
|
||||
/**
|
||||
* Check whether a topic has been published to since the last orb_copy.
|
||||
*
|
||||
* This check can be used to determine whether to copy the topic when
|
||||
* not using poll(), or to avoid the overhead of calling poll() when the
|
||||
* topic is likely to have updated.
|
||||
*
|
||||
* Updates are tracked on a per-handle basis; this call will continue to
|
||||
* return true until orb_copy is called using the same handle. This interface
|
||||
* should be preferred over calling orb_stat due to the race window between
|
||||
* stat and copy that can lead to missed updates.
|
||||
*
|
||||
* @param handle A handle returned from orb_subscribe.
|
||||
* @param updated Set to true if the topic has been updated since the
|
||||
* last time it was copied using this handle.
|
||||
* @return OK if the check was successful, ERROR otherwise with
|
||||
* errno set accordingly.
|
||||
*/
|
||||
extern int orb_check(int handle, bool *updated) __EXPORT;
|
||||
|
||||
/**
|
||||
* Return the last time that the topic was updated.
|
||||
*
|
||||
* @param handle A handle returned from orb_subscribe.
|
||||
* @param time Returns the absolute time that the topic was updated, or zero if it has
|
||||
* never been updated. Time is measured in microseconds.
|
||||
* @return OK on success, ERROR otherwise with errno set accordingly.
|
||||
*/
|
||||
extern int orb_stat(int handle, uint64_t *time) __EXPORT;
|
||||
|
||||
/**
|
||||
* Set the minimum interval between which updates are seen for a subscription.
|
||||
*
|
||||
* If this interval is set, the subscriber will not see more than one update
|
||||
* within the period.
|
||||
*
|
||||
* Specifically, the first time an update is reported to the subscriber a timer
|
||||
* is started. The update will continue to be reported via poll and orb_check, but
|
||||
* once fetched via orb_copy another update will not be reported until the timer
|
||||
* expires.
|
||||
*
|
||||
* This feature can be used to pace a subscriber that is watching a topic that
|
||||
* would otherwise update too quickly.
|
||||
*
|
||||
* @param handle A handle returned from orb_subscribe.
|
||||
* @param interval An interval period in milliseconds.
|
||||
* @return OK on success, ERROR otherwise with ERRNO set accordingly.
|
||||
*/
|
||||
extern int orb_set_interval(int handle, unsigned interval) __EXPORT;
|
||||
|
||||
__END_DECLS
|
||||
|
||||
#endif /* _UORB_UORB_H */
|
||||
Reference in New Issue
Block a user