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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/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