forked from Archive/PX4-Autopilot
68 lines
2.6 KiB
C
68 lines
2.6 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 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 actuator_outputs.h
|
|
*
|
|
* Actuator output values.
|
|
*
|
|
* Values published to these topics are the outputs of the control mixing
|
|
* system as sent to the actuators (servos, motors, etc.) that operate
|
|
* the vehicle.
|
|
*
|
|
* Each topic can be published by a single output driver.
|
|
*/
|
|
|
|
#ifndef TOPIC_ACTUATOR_OUTPUTS_H
|
|
#define TOPIC_ACTUATOR_OUTPUTS_H
|
|
|
|
#include <stdint.h>
|
|
#include "../uORB.h"
|
|
|
|
#define NUM_ACTUATOR_OUTPUTS 16
|
|
#define NUM_ACTUATOR_OUTPUT_GROUPS 4 /**< for sanity checking */
|
|
|
|
struct actuator_outputs_s {
|
|
float output[NUM_ACTUATOR_OUTPUTS];
|
|
};
|
|
|
|
/* actuator output sets; this list can be expanded as more drivers emerge */
|
|
ORB_DECLARE(actuator_outputs_0);
|
|
ORB_DECLARE(actuator_outputs_1);
|
|
ORB_DECLARE(actuator_outputs_2);
|
|
ORB_DECLARE(actuator_outputs_3);
|
|
|
|
/* output sets with pre-defined applications */
|
|
#define ORB_ID_VEHICLE_CONTROLS ORB_ID(actuator_outputs_0)
|
|
|
|
#endif |