diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 81aeec8967..df56e931ca 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -210,10 +210,7 @@ ORB_DEFINE(actuator_direct, struct actuator_direct_s); ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s); #include "topics/telemetry_status.h" -ORB_DEFINE(telemetry_status_0, struct telemetry_status_s); -ORB_DEFINE(telemetry_status_1, struct telemetry_status_s); -ORB_DEFINE(telemetry_status_2, struct telemetry_status_s); -ORB_DEFINE(telemetry_status_3, struct telemetry_status_s); +ORB_DEFINE(telemetry_status, struct telemetry_status_s); #include "topics/test_motor.h" ORB_DEFINE(test_motor, struct test_motor_s); diff --git a/src/modules/uORB/topics/multirotor_motor_limits.h b/src/modules/uORB/topics/multirotor_motor_limits.h index 30fd96b938..8f0fce1dd0 100644 --- a/src/modules/uORB/topics/multirotor_motor_limits.h +++ b/src/modules/uORB/topics/multirotor_motor_limits.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2013-2015 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 @@ -31,31 +31,37 @@ * ****************************************************************************/ -/** - * @file multirotor_motor_limits.h - * - * Definition of multirotor_motor_limits topic - */ +/* Auto-generated by genmsg_cpp from file /Users/lorenzmeier/src/Firmware/msg/multirotor_motor_limits.msg */ -#ifndef MULTIROTOR_MOTOR_LIMITS_H_ -#define MULTIROTOR_MOTOR_LIMITS_H_ -#include "../uORB.h" +#pragma once + #include +#include + + +#ifndef __cplusplus + +#endif /** * @addtogroup topics * @{ */ -/** - * Motor limits - */ + +#ifdef __cplusplus +struct __EXPORT multirotor_motor_limits_s { +#else struct multirotor_motor_limits_s { - uint8_t lower_limit : 1; // at least one actuator command has saturated on the lower limit - uint8_t upper_limit : 1; // at least one actuator command has saturated on the upper limit - uint8_t yaw : 1; // yaw limit reached - uint8_t reserved : 5; // reserved +#endif + uint8_t lower_limit; + uint8_t upper_limit; + uint8_t yaw; + uint8_t reserved; +#ifdef __cplusplus + +#endif }; /** @@ -64,5 +70,3 @@ struct multirotor_motor_limits_s { /* register this as object request broker structure */ ORB_DECLARE(multirotor_motor_limits); - -#endif diff --git a/src/modules/uORB/topics/safety.h b/src/modules/uORB/topics/safety.h index a5d21cd4ad..7cb3219788 100644 --- a/src/modules/uORB/topics/safety.h +++ b/src/modules/uORB/topics/safety.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2013-2015 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 @@ -31,27 +31,41 @@ * ****************************************************************************/ -/** - * @file safety.h - * - * Safety topic to pass safety state from px4io driver to commander - * This concerns only the safety button of the px4io but has nothing to do - * with arming/disarming. - */ +/* Auto-generated by genmsg_cpp from file /Users/lorenzmeier/src/Firmware/msg/safety.msg */ -#ifndef TOPIC_SAFETY_H -#define TOPIC_SAFETY_H + +#pragma once #include -#include "../uORB.h" +#include + +#ifndef __cplusplus + +#endif + +/** + * @addtogroup topics + * @{ + */ + + +#ifdef __cplusplus +struct __EXPORT safety_s { +#else struct safety_s { +#endif + uint64_t timestamp; + bool safety_switch_available; + bool safety_off; +#ifdef __cplusplus - uint64_t timestamp; - bool safety_switch_available; /**< Set to true if a safety switch is connected */ - bool safety_off; /**< Set to true if safety is off */ +#endif }; -ORB_DECLARE(safety); +/** + * @} + */ -#endif \ No newline at end of file +/* register this as object request broker structure */ +ORB_DECLARE(safety); diff --git a/src/modules/uORB/topics/satellite_info.h b/src/modules/uORB/topics/satellite_info.h index 37c2faa962..fc06e89a6d 100644 --- a/src/modules/uORB/topics/satellite_info.h +++ b/src/modules/uORB/topics/satellite_info.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Lorenz Meier + * Copyright (C) 2013-2015 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 @@ -34,50 +31,43 @@ * ****************************************************************************/ -/** - * @file satellite_info.h - * Definition of the GNSS satellite info uORB topic. - */ +/* Auto-generated by genmsg_cpp from file /Users/lorenzmeier/src/Firmware/msg/satellite_info.msg */ -#ifndef TOPIC_SAT_INFO_H_ -#define TOPIC_SAT_INFO_H_ + +#pragma once #include -#include "../uORB.h" +#include + + +#ifndef __cplusplus +#define SAT_INFO_MAX_SATELLITES 20 + +#endif /** * @addtogroup topics * @{ */ -/** - * GNSS Satellite Info. - */ - -#define SAT_INFO_MAX_SATELLITES 20 +#ifdef __cplusplus +struct __EXPORT satellite_info_s { +#else struct satellite_info_s { - uint64_t timestamp; /**< Timestamp of satellite info */ - uint8_t count; /**< Number of satellites in satellite info */ - uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */ - uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */ - uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ - uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ - uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ -}; +#endif + uint64_t timestamp; + uint8_t count; + uint8_t svid[20]; + uint8_t used[20]; + uint8_t elevation[20]; + uint8_t azimuth[20]; + uint8_t snr[20]; +#ifdef __cplusplus + static const uint8_t SAT_INFO_MAX_SATELLITES = 20; -/** - * NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs - * u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf - * - * GPS 1-32 - * SBAS 120-158 - * Galileo 211-246 - * BeiDou 159-163, 33-64 - * QZSS 193-197 - * GLONASS 65-96, 255 - * - */ +#endif +}; /** * @} @@ -85,5 +75,3 @@ struct satellite_info_s { /* register this as object request broker structure */ ORB_DECLARE(satellite_info); - -#endif diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index ee950f4db2..1a38366e9e 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2013-2015 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 @@ -31,72 +31,59 @@ * ****************************************************************************/ -/** - * @file telemetry_status.h - * - * Telemetry status topics - radio status outputs - */ +/* Auto-generated by genmsg_cpp from file /Users/lorenzmeier/src/Firmware/msg/telemetry_status.msg */ -#ifndef TOPIC_TELEMETRY_STATUS_H -#define TOPIC_TELEMETRY_STATUS_H + +#pragma once #include -#include "../uORB.h" +#include -enum TELEMETRY_STATUS_RADIO_TYPE { - TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0, - TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO, - TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET, - TELEMETRY_STATUS_RADIO_TYPE_WIRE -}; + +#ifndef __cplusplus +#define TELEMETRY_STATUS_RADIO_TYPE_GENERIC 0 +#define TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO 1 +#define TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET 2 +#define TELEMETRY_STATUS_RADIO_TYPE_WIRE 3 + +#endif /** * @addtogroup topics * @{ */ + +#ifdef __cplusplus +struct __EXPORT telemetry_status_s { +#else struct telemetry_status_s { +#endif uint64_t timestamp; - uint64_t heartbeat_time; /**< Time of last received heartbeat from remote system */ - uint64_t telem_time; /**< Time of last received telemetry status packet, 0 for none */ - enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ - uint8_t rssi; /**< local signal strength */ - uint8_t remote_rssi; /**< remote signal strength */ - uint16_t rxerrors; /**< receive errors */ - uint16_t fixed; /**< count of error corrected packets */ - uint8_t noise; /**< background noise level */ - uint8_t remote_noise; /**< remote background noise level */ - uint8_t txbuf; /**< how full the tx buffer is as a percentage */ - uint8_t system_id; /**< system id of the remote system */ - uint8_t component_id; /**< component id of the remote system */ + uint64_t heartbeat_time; + uint64_t telem_time; + uint8_t type; + uint8_t rssi; + uint8_t remote_rssi; + uint16_t rxerrors; + uint16_t fixed; + uint8_t noise; + uint8_t remote_noise; + uint8_t txbuf; + uint8_t system_id; + uint8_t component_id; +#ifdef __cplusplus + static const uint8_t TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0; + static const uint8_t TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO = 1; + static const uint8_t TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET = 2; + static const uint8_t TELEMETRY_STATUS_RADIO_TYPE_WIRE = 3; + +#endif }; /** * @} */ -ORB_DECLARE(telemetry_status_0); -ORB_DECLARE(telemetry_status_1); -ORB_DECLARE(telemetry_status_2); -ORB_DECLARE(telemetry_status_3); - -#define TELEMETRY_STATUS_ORB_ID_NUM 4 - -static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = { - ORB_ID(telemetry_status_0), - ORB_ID(telemetry_status_1), - ORB_ID(telemetry_status_2), - ORB_ID(telemetry_status_3), -}; - -// This is a hack to quiet an unused-variable warning for when telemetry_status.h is -// included but telemetry_status_orb_id is not referenced. The inline works if you -// choose to use it, but you can continue to just directly index into the array as well. -// If you don't use the inline this ends up being a no-op with no additional code emitted. -//static const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index); -static inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index) -{ - return telemetry_status_orb_id[index]; -} - -#endif /* TOPIC_TELEMETRY_STATUS_H */ +/* register this as object request broker structure */ +ORB_DECLARE(telemetry_status);