mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
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.
111 lines
4.1 KiB
C++
111 lines
4.1 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 objects_common.h
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*
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* Common object definitions without a better home.
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*/
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#include <nuttx/config.h>
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#include <drivers/drv_orb_dev.h>
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#include <drivers/drv_mag.h>
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ORB_DEFINE(sensor_mag, struct mag_report);
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#include <drivers/drv_accel.h>
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ORB_DEFINE(sensor_accel, struct accel_report);
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#include <drivers/drv_gyro.h>
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ORB_DEFINE(sensor_gyro, struct gyro_report);
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#include <drivers/drv_baro.h>
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ORB_DEFINE(sensor_baro, struct baro_report);
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#include <drivers/drv_pwm_output.h>
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ORB_DEFINE(output_pwm, struct pwm_output_values);
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#include <drivers/drv_rc_input.h>
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ORB_DEFINE(input_rc, struct rc_input_values);
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// XXX need to check wether these should be here
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#include "topics/vehicle_attitude.h"
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ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
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#include "topics/sensor_combined.h"
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ORB_DEFINE(sensor_combined, struct sensor_combined_s);
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#include "topics/vehicle_gps_position.h"
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ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
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#include "topics/vehicle_status.h"
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ORB_DEFINE(vehicle_status, struct vehicle_status_s);
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#include "topics/vehicle_global_position.h"
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ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
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#include "topics/vehicle_local_position.h"
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ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
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#include "topics/ardrone_control.h"
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ORB_DEFINE(ardrone_control, struct ardrone_control_s);
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#include "topics/ardrone_motors_setpoint.h"
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ORB_DEFINE(ardrone_motors_setpoint, struct ardrone_motors_setpoint_s);
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#include "topics/rc_channels.h"
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ORB_DEFINE(rc_channels, struct rc_channels_s);
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#include "topics/fixedwing_control.h"
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ORB_DEFINE(fixedwing_control, struct fixedwing_control_s);
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#include "topics/vehicle_command.h"
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ORB_DEFINE(vehicle_command, struct vehicle_command_s);
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#include "topics/vehicle_local_position_setpoint.h"
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ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
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#include "topics/vehicle_global_position_setpoint.h"
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ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
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#include "topics/vehicle_attitude_setpoint.h"
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ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_s);
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#include "topics/actuator_controls.h"
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ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
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ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
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ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
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ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
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ORB_DEFINE(actuator_armed, struct actuator_armed_s);
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