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mixer_multirotor: topic for motor limit notification

This commit is contained in:
Holger Steinhaus 2014-08-26 20:26:47 +02:00
parent f2683c23e9
commit ccdfab245b
2 changed files with 72 additions and 0 deletions
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3
src/modules/uORB/objects_common.cpp
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@ -192,6 +192,9 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/multirotor_motor_limits.h"
ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s);
#include "topics/telemetry_status.h"
ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);

69
src/modules/uORB/topics/multirotor_motor_limits.h Normal file
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@ -0,0 +1,69 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 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.
* 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.
* 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.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file multirotor_motor_limits.h
*
* Definition of multirotor_motor_limits topic
*/
#ifndef MULTIROTOR_MOTOR_LIMITS_H_
#define MULTIROTOR_MOTOR_LIMITS_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Motor limits
*/
struct multirotor_motor_limits_s {
uint8_t roll_pitch : 1; // roll/pitch limit reached
uint8_t yaw : 1; // yaw limit reached
uint8_t throttle_lower : 1; // lower throttle limit reached
uint8_t throttle_upper : 1; // upper throttle limit reached
uint8_t reserved : 4;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(multirotor_motor_limits);
#endif