forked from Archive/PX4-Autopilot
96 lines
2.9 KiB
C
96 lines
2.9 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 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 manual_control_setpoint.h
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* Definition of the manual_control_setpoint uORB topic.
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*/
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#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
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#define TOPIC_MANUAL_CONTROL_SETPOINT_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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/**
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* Defines how RC channels map to control inputs.
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*
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* The default mode on quadrotors and fixed wing is
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* roll and pitch position of the right stick and
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* throttle and yaw rate on the left stick
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*/
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enum MANUAL_CONTROL_MODE
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{
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DIRECT = 0,
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ROLLPOS_PITCHPOS_YAWRATE_THROTTLE = 1,
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ROLLRATE_PITCHRATE_YAWRATE_THROTTLE = 2,
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ROLLPOS_PITCHPOS_YAWPOS_THROTTLE = 3
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};
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struct manual_control_setpoint_s {
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enum MANUAL_CONTROL_MODE mode; /**< The current control inputs mode */
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float roll; /**< roll / roll rate input */
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float pitch;
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float yaw;
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float throttle;
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float override_mode_switch;
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float ailerons;
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float elevator;
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float rudder;
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float flaps;
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float aux1_cam_pan;
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float aux2_cam_tilt;
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float aux3_cam_zoom;
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float aux4_cam_roll;
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}; /**< manual control inputs */
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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(manual_control_setpoint);
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#endif
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