mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 02:53:34 +08:00
Jacob Dahl
1f17a1470a
updated uavcannode/Publishers/SafetyButton.hpp tested successfully make format revert cannode publishing
346 lines
8.2 KiB
C
346 lines
8.2 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2014-2021 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
|
*/
|
|
|
|
/**
|
|
* UAVCAN mode
|
|
*
|
|
* 0 - UAVCAN disabled.
|
|
* 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
|
|
* 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
|
|
* 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
|
|
*
|
|
* @min 0
|
|
* @max 3
|
|
* @value 0 Disabled
|
|
* @value 1 Sensors Manual Config
|
|
* @value 2 Sensors Automatic Config
|
|
* @value 3 Sensors and Actuators (ESCs) Automatic Config
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
|
|
|
|
/**
|
|
* UAVCAN Node ID.
|
|
*
|
|
* Read the specs at http://uavcan.org to learn more about Node ID.
|
|
*
|
|
* @min 1
|
|
* @max 125
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
|
|
|
|
/**
|
|
* UAVCAN CAN bus bitrate.
|
|
*
|
|
* @unit bit/s
|
|
* @min 20000
|
|
* @max 1000000
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
|
|
|
|
/**
|
|
* UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);
|
|
|
|
/**
|
|
* UAVCAN rangefinder minimum range
|
|
*
|
|
* This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
|
|
*
|
|
* @unit m
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f);
|
|
|
|
/**
|
|
* UAVCAN rangefinder maximum range
|
|
*
|
|
* This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
|
|
*
|
|
* @unit m
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);
|
|
|
|
/**
|
|
* UAVCAN ANTI_COLLISION light operating mode
|
|
*
|
|
* This parameter defines the minimum condition under which the system will command
|
|
* the ANTI_COLLISION lights on
|
|
*
|
|
* 0 - Always off
|
|
* 1 - When autopilot is armed
|
|
* 2 - When autopilot is prearmed
|
|
* 3 - Always on
|
|
*
|
|
* @min 0
|
|
* @max 3
|
|
* @value 0 Always off
|
|
* @value 1 When autopilot is armed
|
|
* @value 2 When autopilot is prearmed
|
|
* @value 3 Always on
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_LGT_ANTCL, 2);
|
|
|
|
/**
|
|
* UAVCAN STROBE light operating mode
|
|
*
|
|
* This parameter defines the minimum condition under which the system will command
|
|
* the STROBE lights on
|
|
*
|
|
* 0 - Always off
|
|
* 1 - When autopilot is armed
|
|
* 2 - When autopilot is prearmed
|
|
* 3 - Always on
|
|
*
|
|
* @min 0
|
|
* @max 3
|
|
* @value 0 Always off
|
|
* @value 1 When autopilot is armed
|
|
* @value 2 When autopilot is prearmed
|
|
* @value 3 Always on
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_LGT_STROB, 1);
|
|
|
|
/**
|
|
* UAVCAN RIGHT_OF_WAY light operating mode
|
|
*
|
|
* This parameter defines the minimum condition under which the system will command
|
|
* the RIGHT_OF_WAY lights on
|
|
*
|
|
* 0 - Always off
|
|
* 1 - When autopilot is armed
|
|
* 2 - When autopilot is prearmed
|
|
* 3 - Always on
|
|
*
|
|
* @min 0
|
|
* @max 3
|
|
* @value 0 Always off
|
|
* @value 1 When autopilot is armed
|
|
* @value 2 When autopilot is prearmed
|
|
* @value 3 Always on
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
|
|
|
|
/**
|
|
* UAVCAN LIGHT_ID_LANDING light operating mode
|
|
*
|
|
* This parameter defines the minimum condition under which the system will command
|
|
* the LIGHT_ID_LANDING lights on
|
|
*
|
|
* 0 - Always off
|
|
* 1 - When autopilot is armed
|
|
* 2 - When autopilot is prearmed
|
|
* 3 - Always on
|
|
*
|
|
* @min 0
|
|
* @max 3
|
|
* @value 0 Always off
|
|
* @value 1 When autopilot is armed
|
|
* @value 2 When autopilot is prearmed
|
|
* @value 3 Always on
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
|
|
|
|
/**
|
|
* subscription airspeed
|
|
*
|
|
* Enable UAVCAN airspeed subscriptions.
|
|
* uavcan::equipment::air_data::IndicatedAirspeed
|
|
* uavcan::equipment::air_data::TrueAirspeed
|
|
* uavcan::equipment::air_data::StaticTemperature
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_ASPD, 0);
|
|
|
|
/**
|
|
* subscription barometer
|
|
*
|
|
* Enable UAVCAN barometer subscription.
|
|
* uavcan::equipment::air_data::StaticPressure
|
|
* uavcan::equipment::air_data::StaticTemperature
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_BARO, 0);
|
|
|
|
/**
|
|
* subscription battery
|
|
*
|
|
* Enable UAVCAN battery subscription.
|
|
* uavcan::equipment::power::BatteryInfo
|
|
* ardupilot::equipment::power::BatteryInfoAux
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_BAT, 0);
|
|
|
|
/**
|
|
* subscription differential pressure
|
|
*
|
|
* Enable UAVCAN differential pressure subscription.
|
|
* uavcan::equipment::air_data::RawAirData
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_DPRES, 0);
|
|
|
|
/**
|
|
* subscription flow
|
|
*
|
|
* Enable UAVCAN optical flow subscription.
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);
|
|
|
|
/**
|
|
* subscription GPS
|
|
*
|
|
* Enable UAVCAN GPS subscriptions.
|
|
* uavcan::equipment::gnss::Fix
|
|
* uavcan::equipment::gnss::Fix2
|
|
* uavcan::equipment::gnss::Auxiliary
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1);
|
|
|
|
/**
|
|
* subscription hygrometer
|
|
*
|
|
* Enable UAVCAN hygrometer subscriptions.
|
|
* dronecan::sensors::hygrometer::Hygrometer
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_HYGRO, 0);
|
|
|
|
/**
|
|
* subscription ICE
|
|
*
|
|
* Enable UAVCAN internal combusion engine (ICE) subscription.
|
|
* uavcan::equipment::ice::reciprocating::Status
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_ICE, 0);
|
|
|
|
/**
|
|
* subscription IMU
|
|
*
|
|
* Enable UAVCAN IMU subscription.
|
|
* uavcan::equipment::ahrs::RawIMU
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_IMU, 0);
|
|
|
|
/**
|
|
* subscription magnetometer
|
|
*
|
|
* Enable UAVCAN mag subscription.
|
|
* uavcan::equipment::ahrs::MagneticFieldStrength
|
|
* uavcan::equipment::ahrs::MagneticFieldStrength2
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_MAG, 1);
|
|
|
|
/**
|
|
* subscription range finder
|
|
*
|
|
* Enable UAVCAN range finder subscription.
|
|
* uavcan::equipment::range_sensor::Measurement
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_RNG, 0);
|
|
|
|
/**
|
|
* subscription button
|
|
*
|
|
* Enable UAVCAN button subscription.
|
|
* ardupilot::indication::Button
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group UAVCAN
|
|
*/
|
|
PARAM_DEFINE_INT32(UAVCAN_SUB_BTN, 0);
|