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manual_control_setpoint as msg

This commit is contained in:
Thomas Gubler 2014-12-08 11:06:56 +01:00
parent 87df7c3243
commit b3600e5ee6
6 changed files with 82 additions and 71 deletions
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44
msg/px4_msgs/manual_control_setpoint.msg Normal file
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@ -0,0 +1,44 @@
uint8 SWITCH_POS_NONE = 0 # switch is not mapped
uint8 SWITCH_POS_ON = 1 # switch activated (value = 1)
uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0)
uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1)
uint64 timestamp
# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.
# The variable names follow the definition of the
# MANUAL_CONTROL mavlink message.
# The default range is from -1 to 1 (mavlink message -1000 to 1000)
# The range for the z variable is defined from 0 to 1. (The z field of
# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
float32 x # stick position in x direction -1..1
# in general corresponds to forward/back motion or pitch of vehicle,
# in general a positive value means forward or negative pitch and
# a negative value means backward or positive pitch
float32 y # stick position in y direction -1..1
# in general corresponds to right/left motion or roll of vehicle,
# in general a positive value means right or positive roll and
# a negative value means left or negative roll
float32 z # throttle stick position 0..1
# in general corresponds to up/down motion or thrust of vehicle,
# in general the value corresponds to the demanded throttle by the user,
# if the input is used for setting the setpoint of a vertical position
# controller any value > 0.5 means up and any value < 0.5 means down
float32 r # yaw stick/twist positon, -1..1
# in general corresponds to the righthand rotation around the vertical
# (downwards) axis of the vehicle
float32 flaps # flap position
float32 aux1 # default function: camera yaw / azimuth
float32 aux2 # default function: camera pitch / tilt
float32 aux3 # default function: camera trigger
float32 aux4 # default function: camera roll
float32 aux5 # default function: payload drop
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD

1
src/modules/mc_att_control/mc_att_control_base.h
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@ -53,7 +53,6 @@
#include <errno.h>
#include <math.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>

1
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -61,7 +61,6 @@
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>

8
src/modules/sensors/sensors.cpp
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@ -187,8 +187,8 @@ private:
/**
* Get switch position for specified function.
*/
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
uint8_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
uint8_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
/**
* Gather and publish RC input data.
@ -1512,7 +1512,7 @@ Sensors::get_rc_value(uint8_t func, float min_value, float max_value)
}
}
switch_pos_t
uint8_t
Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
{
if (_rc.function[func] >= 0) {
@ -1533,7 +1533,7 @@ Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mi
}
}
switch_pos_t
uint8_t
Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
{
if (_rc.function[func] >= 0) {

98
src/modules/uORB/topics/manual_control_setpoint.h
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@ -1,21 +1,20 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
@ -32,73 +31,44 @@
*
****************************************************************************/
/**
* @file manual_control_setpoint.h
* Definition of the manual_control_setpoint uORB topic.
*/
/* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/manual_control_setpoint.msg */
#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
#define TOPIC_MANUAL_CONTROL_SETPOINT_H_
#pragma once
#include <stdint.h>
#include <platforms/px4_defines.h>
#include "../uORB.h"
#define SWITCH_POS_NONE 0
#define SWITCH_POS_ON 1
#define SWITCH_POS_MIDDLE 2
#define SWITCH_POS_OFF 3
/**
* Switch position
*/
typedef enum {
SWITCH_POS_NONE = 0, /**< switch is not mapped */
SWITCH_POS_ON, /**< switch activated (value = 1) */
SWITCH_POS_MIDDLE, /**< middle position (value = 0) */
SWITCH_POS_OFF /**< switch not activated (value = -1) */
} switch_pos_t;
/**
* @addtogroup topics
* @{
*/
struct manual_control_setpoint_s {
uint64_t timestamp;
/**
* Any of the channels may not be available and be set to NaN
* to indicate that it does not contain valid data.
* The variable names follow the definition of the
* MANUAL_CONTROL mavlink message.
* The default range is from -1 to 1 (mavlink message -1000 to 1000)
* The range for the z variable is defined from 0 to 1. (The z field of
* the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
*/
float x; /**< stick position in x direction -1..1
in general corresponds to forward/back motion or pitch of vehicle,
in general a positive value means forward or negative pitch and
a negative value means backward or positive pitch */
float y; /**< stick position in y direction -1..1
in general corresponds to right/left motion or roll of vehicle,
in general a positive value means right or positive roll and
a negative value means left or negative roll */
float z; /**< throttle stick position 0..1
in general corresponds to up/down motion or thrust of vehicle,
in general the value corresponds to the demanded throttle by the user,
if the input is used for setting the setpoint of a vertical position
controller any value > 0.5 means up and any value < 0.5 means down */
float r; /**< yaw stick/twist positon, -1..1
in general corresponds to the righthand rotation around the vertical
(downwards) axis of the vehicle */
float flaps; /**< flap position */
float aux1; /**< default function: camera yaw / azimuth */
float aux2; /**< default function: camera pitch / tilt */
float aux3; /**< default function: camera trigger */
float aux4; /**< default function: camera roll */
float aux5; /**< default function: payload drop */
switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */
switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */
switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
float x;
float y;
float z;
float r;
float flaps;
float aux1;
float aux2;
float aux3;
float aux4;
float aux5;
uint8_t mode_switch;
uint8_t return_switch;
uint8_t posctl_switch;
uint8_t loiter_switch;
uint8_t acro_switch;
uint8_t offboard_switch;
};
/**
@ -107,5 +77,3 @@ struct manual_control_setpoint_s {
/* register this as object request broker structure */
ORB_DECLARE(manual_control_setpoint);
#endif

1
src/platforms/px4_includes.h
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@ -56,6 +56,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>