forked from Archive/PX4-Autopilot
95 lines
3.2 KiB
C
95 lines
3.2 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
|
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
|
*
|
|
* 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 offboard_control_setpoint.h
|
|
* Definition of the manual_control_setpoint uORB topic.
|
|
*/
|
|
|
|
#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
|
|
#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
|
|
|
|
#include <stdint.h>
|
|
#include "../uORB.h"
|
|
|
|
/**
|
|
* @addtogroup topics
|
|
* @{
|
|
*/
|
|
|
|
/**
|
|
* Off-board control inputs.
|
|
*
|
|
* Typically sent by a ground control station / joystick or by
|
|
* some off-board controller via C or SIMULINK.
|
|
*/
|
|
enum OFFBOARD_CONTROL_MODE
|
|
{
|
|
OFFBOARD_CONTROL_MODE_DIRECT = 0,
|
|
OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
|
|
OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
|
|
OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
|
|
OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
|
|
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
|
|
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
|
|
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
|
|
};
|
|
|
|
struct offboard_control_setpoint_s {
|
|
uint64_t timestamp;
|
|
|
|
enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
|
|
bool armed; /**< Armed flag set, yes / no */
|
|
float p1; /**< ailerons roll / roll rate input */
|
|
float p2; /**< elevator / pitch / pitch rate */
|
|
float p3; /**< rudder / yaw rate / yaw */
|
|
float p4; /**< throttle / collective thrust / altitude */
|
|
|
|
float override_mode_switch;
|
|
|
|
float aux1_cam_pan_flaps;
|
|
float aux2_cam_tilt;
|
|
float aux3_cam_zoom;
|
|
float aux4_cam_roll;
|
|
|
|
}; /**< offboard control inputs */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/* register this as object request broker structure */
|
|
ORB_DECLARE(offboard_control_setpoint);
|
|
|
|
#endif
|