forked from Archive/PX4-Autopilot
69 lines
2.6 KiB
C
69 lines
2.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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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 actuator_outputs.h
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*
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* Actuator output values.
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*
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* Values published to these topics are the outputs of the control mixing
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* system as sent to the actuators (servos, motors, etc.) that operate
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* the vehicle.
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*
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* Each topic can be published by a single output driver.
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*/
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#ifndef TOPIC_ACTUATOR_OUTPUTS_H
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#define TOPIC_ACTUATOR_OUTPUTS_H
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#include <stdint.h>
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#include "../uORB.h"
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#define NUM_ACTUATOR_OUTPUTS 16
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#define NUM_ACTUATOR_OUTPUT_GROUPS 4 /**< for sanity checking */
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struct actuator_outputs_s {
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uint64_t timestamp;
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float output[NUM_ACTUATOR_OUTPUTS];
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};
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/* actuator output sets; this list can be expanded as more drivers emerge */
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ORB_DECLARE(actuator_outputs_0);
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ORB_DECLARE(actuator_outputs_1);
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ORB_DECLARE(actuator_outputs_2);
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ORB_DECLARE(actuator_outputs_3);
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/* output sets with pre-defined applications */
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#define ORB_ID_VEHICLE_CONTROLS ORB_ID(actuator_outputs_0)
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#endif |