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Introduced new actuator_safety topic

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This commit is contained in:
Julian Oes
2013-06-14 13:53:26 +02:00
parent 236053a600
commit 90f5e30f2a
22 changed files with 424 additions and 193 deletions
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src/modules/uORB/objects_common.cpp
+3 -1
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@@ -137,7 +137,9 @@ ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
ORB_DEFINE(actuator_armed, struct actuator_armed_s);
#include "topics/actuator_safety.h"
ORB_DEFINE(actuator_safety, struct actuator_safety_s);
/* actuator controls, as set by actuators / mixers after limiting */
#include "topics/actuator_controls_effective.h"
src/modules/uORB/topics/actuator_controls.h
+3 -12
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@@ -52,6 +52,9 @@
#define NUM_ACTUATOR_CONTROLS 8
#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */
/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0)
struct actuator_controls_s {
uint64_t timestamp;
float control[NUM_ACTUATOR_CONTROLS];
@@ -63,16 +66,4 @@ ORB_DECLARE(actuator_controls_1);
ORB_DECLARE(actuator_controls_2);
ORB_DECLARE(actuator_controls_3);
/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0)
/** global 'actuator output is live' control. */
struct actuator_armed_s {
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
};
ORB_DECLARE(actuator_armed);
#endif
src/modules/uORB/topics/actuator_safety.h
+65
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@@ -0,0 +1,65 @@
/****************************************************************************
*
* 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_controls.h
*
* Actuator control topics - mixer inputs.
*
* Values published to these topics 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.
*
* Each topic can be published by a single controller
*/
#ifndef TOPIC_ACTUATOR_SAFETY_H
#define TOPIC_ACTUATOR_SAFETY_H
#include <stdint.h>
#include "../uORB.h"
/** global 'actuator output is live' control. */
struct actuator_safety_s {
uint64_t timestamp;
bool safety_off; /**< Set to true if safety is off */
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
};
ORB_DECLARE(actuator_safety);
#endif
src/modules/uORB/topics/vehicle_control_mode.h
+96
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@@ -0,0 +1,96 @@
/****************************************************************************
*
* 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_control_mode.h
* Definition of the vehicle_control_mode uORB topic.
*
* All control apps should depend their actions based on the flags set here.
*/
#ifndef VEHICLE_CONTROL_MODE
#define VEHICLE_CONTROL_MODE
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics @{
*/
/**
* state machine / state of vehicle.
*
* Encodes the complete system state and is set by the commander app.
*/
struct vehicle_control_mode_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 */
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */
bool flag_armed; /**< true is motors / actuators are armed */
bool flag_safety_off; /**< true if safety is off */
bool flag_system_emergency;
bool flag_preflight_calibration;
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
bool flag_control_offboard_enabled; /**< true if offboard control input is on */
bool flag_auto_enabled;
bool flag_control_rates_enabled; /**< true if rates are stabilized */
bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */
bool flag_control_velocity_enabled; /**< true if speed (implies direction) is controlled */
bool flag_control_position_enabled; /**< true if position is controlled */
bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
bool failsave_highlevel;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_status);
#endif
src/modules/uORB/topics/vehicle_status.h
+2 -3
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@@ -199,8 +199,8 @@ struct vehicle_status_s
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */
bool flag_fmu_armed; /**< true is motors / actuators of FMU are armed */
bool flag_io_armed; /**< true is motors / actuators of IO are armed */
bool flag_armed; /**< true is motors / actuators are armed */
bool flag_safety_off; /**< true if safety is off */
bool flag_system_emergency;
bool flag_preflight_calibration;
@@ -245,7 +245,6 @@ struct vehicle_status_s
uint16_t errors_count2;
uint16_t errors_count3;
uint16_t errors_count4;
};
/**