forked from Archive/PX4-Autopilot
105 lines
3.6 KiB
C
105 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 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 orb_topics.h
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* Common sets of topics subscribed to or published by the MAVLink driver,
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* and structures maintained by those subscriptions.
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*/
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#pragma once
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#include <uORB/uORB.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/offboard_control_setpoint.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_vicon_position.h>
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#include <uORB/topics/vehicle_global_position_setpoint.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/optical_flow.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/debug_key_value.h>
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#include <drivers/drv_rc_input.h>
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struct mavlink_subscriptions {
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int sensor_sub;
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int att_sub;
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int global_pos_sub;
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int act_0_sub;
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int act_1_sub;
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int act_2_sub;
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int act_3_sub;
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int gps_sub;
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int man_control_sp_sub;
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int armed_sub;
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int actuators_sub;
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int local_pos_sub;
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int spa_sub;
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int spl_sub;
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int spg_sub;
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int debug_key_value;
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int input_rc_sub;
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int optical_flow;
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int rates_setpoint_sub;
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};
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extern struct mavlink_subscriptions mavlink_subs;
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/** Global position */
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extern struct vehicle_global_position_s global_pos;
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/** Local position */
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extern struct vehicle_local_position_s local_pos;
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/** Vehicle status */
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extern struct vehicle_status_s v_status;
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/** RC channels */
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extern struct rc_channels_s rc;
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/** Actuator armed state */
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extern struct actuator_armed_s armed;
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/** Worker thread starter */
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extern pthread_t uorb_receive_start(void);
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