forked from Archive/PX4-Autopilot
111 lines
3.6 KiB
C
111 lines
3.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
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* @author Ivan Ovinnikov <oivan@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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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 rc_channels.h
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* Definition of the rc_channels uORB topic.
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*/
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#ifndef RC_CHANNELS_H_
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#define RC_CHANNELS_H_
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#include <stdint.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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* @{
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*/
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enum RC_CHANNELS_STATUS
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{
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UNKNOWN = 0,
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KNOWN = 1,
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SIGNAL = 2,
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TIMEOUT = 3
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};
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/**
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* This defines the mapping of the RC functions.
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* The value assigned to the specific function corresponds to the entry of
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* the channel array chan[].
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*/
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enum RC_CHANNELS_FUNCTION
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{
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THROTTLE = 0,
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ROLL = 1,
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PITCH = 2,
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YAW = 3,
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OVERRIDE = 4,
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FUNC_0 = 5,
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FUNC_1 = 6,
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FUNC_2 = 7,
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FUNC_3 = 8,
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FUNC_4 = 9,
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FUNC_5 = 10,
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FUNC_6 = 11,
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RC_CHANNELS_FUNCTION_MAX = 12
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};
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struct rc_channels_s {
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uint64_t timestamp; /**< In microseconds since boot time. */
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uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
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struct {
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uint16_t mid; /**< midpoint (0). */
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float scaling_factor; /**< scaling factor from raw counts to -1..+1 */
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uint16_t raw; /**< current raw value */
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float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
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uint16_t override;
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enum RC_CHANNELS_STATUS status; /**< status of the channel */
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} chan[RC_CHANNELS_FUNCTION_MAX];
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uint8_t chan_count; /**< maximum number of valid channels */
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/*String array to store the names of the functions*/
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char function_name[RC_CHANNELS_FUNCTION_MAX][20];
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uint8_t function[RC_CHANNELS_FUNCTION_MAX];
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uint8_t rssi; /**< Overall receive signal strength */
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}; /**< radio control channels. */
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(rc_channels);
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#endif
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