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actuator armed as msg

This commit is contained in:
Thomas Gubler 2014-12-08 13:44:08 +01:00
parent 356e6f1eeb
commit 88f4931fd1
5 changed files with 20 additions and 26 deletions
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6
msg/px4_msgs/actuator_armed.msg Normal file
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@ -0,0 +1,6 @@
uint64 timestamp # Microseconds since system boot
bool armed # Set to true if system is armed
bool ready_to_arm # Set to true if system is ready to be armed
bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
bool force_failsafe # Set to true if the actuators are forced to the failsafe position

6
msg/px4_msgs/unused/actuator_armed.msg
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@ -1,6 +0,0 @@
uint64 timestamp # Microseconds since system boot
bool armed # Set to true if system is armed
bool ready_to_arm # Set to true if system is ready to be armed
bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
bool force_failsafe # Set to true if the actuators are forced to the failsafe position

1
src/modules/mc_att_control/mc_att_control_base.h
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@ -53,7 +53,6 @@
#include <errno.h> #include <errno.h>
#include <math.h> #include <math.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
#include <lib/mathlib/mathlib.h> #include <lib/mathlib/mathlib.h>

32
src/modules/uORB/topics/actuator_armed.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2013 PX4 Development Team. All rights reserved. * Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -31,32 +31,28 @@
* *
****************************************************************************/ ****************************************************************************/
/** /* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/actuator_armed.msg */
* @file actuator_armed.h
*
* Actuator armed topic
*
*/
#ifndef TOPIC_ACTUATOR_ARMED_H
#define TOPIC_ACTUATOR_ARMED_H #pragma once
#include <stdint.h> #include <stdint.h>
#include <platforms/px4_defines.h> #include "../uORB.h"
/** /**
* @addtogroup topics * @addtogroup topics
* @{ * @{
*/ */
/** global 'actuator output is live' control. */
struct actuator_armed_s {
uint64_t timestamp; /**< Microseconds since system boot */ struct actuator_armed_s {
bool armed; /**< Set to true if system is armed */ uint64_t timestamp;
bool ready_to_arm; /**< Set to true if system is ready to be armed */ bool armed;
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ bool ready_to_arm;
bool force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */ bool lockdown;
bool force_failsafe;
}; };
/** /**
@ -65,5 +61,3 @@ struct actuator_armed_s {
/* register this as object request broker structure */ /* register this as object request broker structure */
ORB_DECLARE(actuator_armed); ORB_DECLARE(actuator_armed);
#endif

1
src/platforms/px4_includes.h
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@ -61,6 +61,7 @@
#include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_armed.h>
#include <systemlib/err.h> #include <systemlib/err.h>
#include <systemlib/param/param.h> #include <systemlib/param/param.h>