Merge remote-tracking branch 'upstream/master' into new_state_machine

Conflicts: src/drivers/px4io/px4io.cpp src/modules/commander/commander.c src/modules/commander/state_machine_helper.c
2026-10-31 02:41:35 +08:00 · 2013-05-17 11:24:02 +02:00
parent 80e8eeab29 fa816d0fd6
commit f5c157e74d
807 changed files with 29830 additions and 4208 deletions
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+/****************************************************************************
+ *
+ *   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
+ * @{
+ */
+
+/**
+ * The number of RC channel inputs supported.
+ * Current (Q1/2013) radios support up to 18 channels,
+ * leaving at a sane value of 14.
+ */
+#define RC_CHANNELS_MAX   14
+
+/** 
+ * This defines the mapping of the RC functions.
+ * The value assigned to the specific function corresponds to the entry of
+ * the channel array chan[].
+ */
+enum RC_CHANNELS_FUNCTION
+{
+  THROTTLE = 0,
+  ROLL     = 1,
+  PITCH    = 2,
+  YAW      = 3,
+  MODE = 4,
+  RETURN = 5,
+  MISSION = 6,
+  OFFBOARD_MODE = 7,
+  FLAPS   = 8,
+  AUX_1   = 9,
+  AUX_2   = 10,
+  AUX_3   = 11,
+  AUX_4   = 12,
+  AUX_5   = 13,
+  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+};
+
+struct rc_channels_s {
+
+	uint64_t timestamp;                 /**< In microseconds since boot time. */
+  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+  struct {
+    float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
+  } chan[RC_CHANNELS_MAX];
+  uint8_t chan_count;                 /**< number of valid channels */
+
+  /*String array to store the names of the functions*/
+  char function_name[RC_CHANNELS_FUNCTION_MAX][20];
+  int8_t function[RC_CHANNELS_FUNCTION_MAX];
+  uint8_t rssi;                       /**< Overall receive signal strength */
+}; /**< radio control channels. */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(rc_channels);
+
+#endif