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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 21:50:35 +08:00
Julian Oes
32c3135788
The commander used to consume the battery_status topic and write the contents after some calculations into the system state. Instead, the calculations now happen in library calls in systemlib/battery. This moves the battery fields out of the vehicle_status message into the battery_status topic. This brought quite some changes in all modules that need battery information. The current state is compiling but untested.
81 lines
2.9 KiB
C
81 lines
2.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 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 commander_helper.h
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* Commander helper functions definitions
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <julian@oes.ch>
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*/
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#ifndef COMMANDER_HELPER_H_
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#define COMMANDER_HELPER_H_
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <drivers/drv_rgbled.h>
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bool is_multirotor(const struct vehicle_status_s *current_status);
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bool is_rotary_wing(const struct vehicle_status_s *current_status);
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bool is_vtol(const struct vehicle_status_s *current_status);
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int buzzer_init(void);
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void buzzer_deinit(void);
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void set_tune_override(int tune);
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void set_tune(int tune);
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void tune_home_set(bool use_buzzer);
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void tune_mission_ok(bool use_buzzer);
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void tune_mission_fail(bool use_buzzer);
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void tune_positive(bool use_buzzer);
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void tune_neutral(bool use_buzzer);
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void tune_negative(bool use_buzzer);
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int blink_msg_state();
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int led_init(void);
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void led_deinit(void);
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int led_toggle(int led);
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int led_on(int led);
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int led_off(int led);
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void rgbled_set_color(rgbled_color_t color);
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void rgbled_set_mode(rgbled_mode_t mode);
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void rgbled_set_pattern(rgbled_pattern_t *pattern);
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#endif /* COMMANDER_HELPER_H_ */
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