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px4dev
9804447a66
Solve the multiple publishers issue with 'control groups', one group per controller. Mixer inputs now specify both group and control offset within the group. Avoid using %f when loading/saving mixers; use scaled integers instead.
75 lines
2.8 KiB
C
75 lines
2.8 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file actuator_controls.h
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*
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* Actuator control topics - mixer inputs.
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*
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* Values published to these topics are the outputs of the vehicle control
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* system, and are expected to be mixed and used to drive the actuators
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* (servos, speed controls, etc.) that operate the vehicle.
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*
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* Each topic can be published by a single controller
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*/
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#ifndef TOPIC_ACTUATOR_CONTROLS_H
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#define TOPIC_ACTUATOR_CONTROLS_H
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#include <stdint.h>
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#include "../uORB.h"
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#define NUM_ACTUATOR_CONTROLS 8
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#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */
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struct actuator_controls_s {
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float control[NUM_ACTUATOR_CONTROLS];
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};
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/* actuator control sets; this list can be expanded as more controllers emerge */
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ORB_DECLARE(actuator_controls_0);
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ORB_DECLARE(actuator_controls_1);
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ORB_DECLARE(actuator_controls_2);
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ORB_DECLARE(actuator_controls_3);
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/* control sets with pre-defined applications */
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#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0)
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/** global 'actuator output is live' control. */
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struct actuator_armed_s {
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bool armed;
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};
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ORB_DECLARE(actuator_armed);
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#endif |