forked from Archive/PX4-Autopilot
80 lines
3.3 KiB
C
80 lines
3.3 KiB
C
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/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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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 vehicle_command.h
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* Definition of the vehicle command uORB topic.
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*/
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#ifndef TOPIC_VEHICLE_COMMAND_H_
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#define TOPIC_VEHICLE_COMMAND_H_
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#include <stdint.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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* @{
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*/
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struct vehicle_command_s
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{
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float param1; /**< Parameter 1, as defined by MAVLink MAV_CMD enum. */
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float param2; /**< Parameter 2, as defined by MAVLink MAV_CMD enum. */
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float param3; /**< Parameter 3, as defined by MAVLink MAV_CMD enum. */
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float param4; /**< Parameter 4, as defined by MAVLink MAV_CMD enum. */
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float param5; /**< Parameter 5, as defined by MAVLink MAV_CMD enum. */
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float param6; /**< Parameter 6, as defined by MAVLink MAV_CMD enum. */
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float param7; /**< Parameter 7, as defined by MAVLink MAV_CMD enum. */
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uint16_t command; /**< Command ID, as defined MAVLink by MAV_CMD enum. */
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uint8_t target_system; /**< System which should execute the command */
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uint8_t target_component; /**< Component which should execute the command, 0 for all components */
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uint8_t source_system; /**< System sending the command */
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uint8_t source_component; /**< Component sending the command */
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uint8_t confirmation; /**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */
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}; /**< command sent to vehicle */
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(vehicle_command);
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#endif
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