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Merge pull request #2555 from PX4/uorb_msg

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uORB message support
This commit is contained in:
Lorenz Meier
2015-08-12 17:31:44 +02:00
parent 5ca57a0aed 69ce66a3f9
commit 8cd6f3529c
16 changed files with 94 additions and 357 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/multirotor_motor_limits.msg
+4
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@@ -0,0 +1,4 @@
uint8 lower_limit # at least one actuator command has saturated on the lower limit
uint8 upper_limit # at least one actuator command has saturated on the upper limit
uint8 yaw # yaw limit reached
uint8 reserved # reserved
msg/safety.msg
+3
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@@ -0,0 +1,3 @@
uint64 timestamp
bool safety_switch_available # Set to true if a safety switch is connected
bool safety_off # Set to true if safety is off
msg/satellite_info.msg
+9
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@@ -0,0 +1,9 @@
uint8 SAT_INFO_MAX_SATELLITES = 20
uint64 timestamp # Timestamp of satellite info
uint8 count # Number of satellites in satellite info
uint8[20] svid # Space vehicle ID [1..255], see scheme below
uint8[20] used # 0: Satellite not used, 1: used for navigation
uint8[20] elevation # Elevation (0: right on top of receiver, 90: on the horizon) of satellite
uint8[20] azimuth # Direction of satellite, 0: 0 deg, 255: 360 deg.
uint8[20] snr # dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite.
msg/telemetry_status.msg
+18
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@@ -0,0 +1,18 @@
uint8 TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0
uint8 TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO = 1
uint8 TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET = 2
uint8 TELEMETRY_STATUS_RADIO_TYPE_WIRE = 3
uint64 timestamp
uint64 heartbeat_time # Time of last received heartbeat from remote system
uint64 telem_time # Time of last received telemetry status packet, 0 for none
uint8 type # type of the radio hardware
uint8 rssi # local signal strength
uint8 remote_rssi # remote signal strength
uint16 rxerrors # receive errors
uint16 fixed # count of error corrected packets
uint8 noise # background noise level
uint8 remote_noise # remote background noise level
uint8 txbuf # how full the tx buffer is as a percentage
uint8 system_id # system id of the remote system
uint8 component_id # component id of the remote system
src/drivers/gps/ashtech.cpp
+1 -1
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@@ -472,7 +472,7 @@ int ASHTECH::handle_message(int len)
if (this_msg_num == all_msg_num) {
end = tot_sv_visible - (this_msg_num - 1) * 4;
_gps_position->satellites_used = tot_sv_visible;
_satellite_info->count = SAT_INFO_MAX_SATELLITES;
_satellite_info->count = satellite_info_s::SAT_INFO_MAX_SATELLITES;
_satellite_info->timestamp = hrt_absolute_time();
}
src/drivers/gps/ashtech.h
+7 -7
View File
@@ -42,10 +42,10 @@
#ifndef RECV_BUFFER_SIZE
#define RECV_BUFFER_SIZE 512
#define SAT_INFO_MAX_SATELLITES 20
#endif
#include <uORB/topics/satellite_info.h>
class ASHTECH : public GPS_Helper
{
@@ -70,11 +70,11 @@ class ASHTECH : public GPS_Helper
bool _gsv_in_progress; /**< Indicates that gsv data parsing is in progress */
/* int _satellites_count; **< Number of satellites info parsed. */
uint8_t count; /**< Number of satellites in satellite info */
uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
uint8_t svid[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
uint8_t used[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
uint8_t elevation[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t azimuth[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t snr[satellite_info_s::SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
public:
ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
src/drivers/gps/ubx.cpp
+1 -1
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@@ -627,7 +627,7 @@ UBX::payload_rx_add_nav_svinfo(const uint8_t b)
} else {
if (_rx_payload_index == sizeof(ubx_payload_rx_nav_svinfo_part1_t)) {
// Part 1 complete: decode Part 1 buffer
_satellite_info->count = MIN(_buf.payload_rx_nav_svinfo_part1.numCh, SAT_INFO_MAX_SATELLITES);
_satellite_info->count = MIN(_buf.payload_rx_nav_svinfo_part1.numCh, satellite_info_s::SAT_INFO_MAX_SATELLITES);
UBX_TRACE_SVINFO("SVINFO len %u numCh %u\n", (unsigned)_rx_payload_length, (unsigned)_buf.payload_rx_nav_svinfo_part1.numCh);
}
if (_rx_payload_index < sizeof(ubx_payload_rx_nav_svinfo_part1_t) + _satellite_info->count * sizeof(ubx_payload_rx_nav_svinfo_part2_t)) {
src/modules/commander/commander.cpp
+10 -10
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@@ -1081,12 +1081,12 @@ int commander_thread_main(int argc, char *argv[])
memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));
/* Subscribe to telemetry status topics */
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
uint64_t telemetry_last_dl_loss[TELEMETRY_STATUS_ORB_ID_NUM];
bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
int telemetry_subs[ORB_MULTI_MAX_INSTANCES];
uint64_t telemetry_last_heartbeat[ORB_MULTI_MAX_INSTANCES];
uint64_t telemetry_last_dl_loss[ORB_MULTI_MAX_INSTANCES];
bool telemetry_lost[ORB_MULTI_MAX_INSTANCES];
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
telemetry_subs[i] = -1;
telemetry_last_heartbeat[i] = 0;
telemetry_last_dl_loss[i] = 0;
@@ -1347,10 +1347,10 @@ int commander_thread_main(int argc, char *argv[])
}
}
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
if (telemetry_subs[i] < 0 && (OK == orb_exists(telemetry_status_orb_id[i], 0))) {
telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
if (telemetry_subs[i] < 0 && (OK == orb_exists(ORB_ID(telemetry_status), i))) {
telemetry_subs[i] = orb_subscribe_multi(ORB_ID(telemetry_status), i);
}
orb_check(telemetry_subs[i], &updated);
@@ -1359,7 +1359,7 @@ int commander_thread_main(int argc, char *argv[])
struct telemetry_status_s telemetry;
memset(&telemetry, 0, sizeof(telemetry));
orb_copy(telemetry_status_orb_id[i], telemetry_subs[i], &telemetry);
orb_copy(ORB_ID(telemetry_status), telemetry_subs[i], &telemetry);
/* perform system checks when new telemetry link connected */
if (
@@ -1958,7 +1958,7 @@ int commander_thread_main(int argc, char *argv[])
/* data links check */
bool have_link = false;
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
if (telemetry_last_heartbeat[i] != 0 &&
hrt_elapsed_time(&telemetry_last_heartbeat[i]) < datalink_loss_timeout * 1e6) {
/* handle the case where data link was gained first time or regained,
src/modules/mavlink/mavlink_main.cpp
+4 -4
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@@ -246,7 +246,7 @@ Mavlink::Mavlink() :
break;
}
_rstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
_rstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
}
Mavlink::~Mavlink()
@@ -1361,7 +1361,7 @@ Mavlink::update_rate_mult()
bool radio_found = false;
/* 2nd pass: Now check hardware limits */
if (tstatus.type == TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
if (tstatus.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
radio_found = true;
@@ -1721,7 +1721,7 @@ Mavlink::task_main(int argc, char *argv[])
}
/* radio config check */
if (_radio_id != 0 && _rstatus.type == TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
if (_radio_id != 0 && _rstatus.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
/* request to configure radio and radio is present */
FILE *fs = fdopen(_uart_fd, "w");
@@ -2019,7 +2019,7 @@ Mavlink::display_status()
printf("\ttype:\t\t");
switch (_rstatus.type) {
case TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
case telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
printf("3DR RADIO\n");
break;
src/modules/mavlink/mavlink_receiver.cpp
+25 -9
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@@ -281,7 +281,21 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
/* evaluate if this system should accept this command */
bool target_ok;
switch (cmd_mavlink.command) {
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
/* broadcast */
target_ok = (cmd_mavlink.target_system == 0);
break;
default:
target_ok = (cmd_mavlink.target_system == mavlink_system.sysid);
break;
}
if (target_ok && ((cmd_mavlink.target_component == mavlink_system.compid)
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
@@ -942,8 +956,8 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
/* telemetry status supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */
if (_mavlink->get_channel() < ORB_MULTI_MAX_INSTANCES) {
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
@@ -952,7 +966,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
tstatus.timestamp = hrt_absolute_time();
tstatus.telem_time = tstatus.timestamp;
/* tstatus.heartbeat_time is set by system heartbeats */
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
tstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
tstatus.rssi = rstatus.rssi;
tstatus.remote_rssi = rstatus.remrssi;
tstatus.txbuf = rstatus.txbuf;
@@ -964,10 +978,11 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
tstatus.component_id = msg->compid;
if (_telemetry_status_pub == nullptr) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
int multi_instance;
_telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, &multi_instance, ORB_PRIO_HIGH);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
}
}
}
@@ -1156,7 +1171,7 @@ void
MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
{
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
if (_mavlink->get_channel() < ORB_MULTI_MAX_INSTANCES) {
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
@@ -1172,10 +1187,11 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
tstatus.heartbeat_time = tstatus.timestamp;
if (_telemetry_status_pub == nullptr) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
int multi_instance;
_telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, &multi_instance, ORB_PRIO_HIGH);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
}
}
}
src/modules/sdlog2/sdlog2.c
+11 -5
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@@ -229,6 +229,7 @@ static void *logwriter_thread(void *arg);
__EXPORT int sdlog2_main(int argc, char *argv[]);
static bool copy_if_updated(orb_id_t topic, int *handle, void *buffer);
static bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer);
/**
* Mainloop of sd log deamon.
@@ -857,11 +858,16 @@ int write_parameters(int fd)
}
bool copy_if_updated(orb_id_t topic, int *handle, void *buffer)
{
return copy_if_updated_multi(topic, 0, handle, buffer);
}
bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer)
{
bool updated = false;
if (*handle < 0) {
if (OK == orb_exists(topic, 0)) {
if (OK == orb_exists(topic, multi_instance)) {
*handle = orb_subscribe(topic);
/* copy first data */
if (*handle >= 0) {
@@ -1188,7 +1194,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
int telemetry_subs[ORB_MULTI_MAX_INSTANCES];
int distance_sensor_sub;
int estimator_status_sub;
int tecs_status_sub;
@@ -1236,7 +1242,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* add new topics HERE */
for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
subs.telemetry_subs[i] = -1;
}
@@ -1822,8 +1828,8 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- TELEMETRY --- */
for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (copy_if_updated(telemetry_status_orb_id[i], &subs.telemetry_subs[i], &buf.telemetry)) {
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
if (copy_if_updated_multi(ORB_ID(telemetry_status), i, &subs.telemetry_subs[i], &buf.telemetry)) {
log_msg.msg_type = LOG_TEL0_MSG + i;
log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
src/modules/uORB/objects_common.cpp
+1 -4
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@@ -210,10 +210,7 @@ ORB_DEFINE(actuator_direct, struct actuator_direct_s);
ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s);
#include "topics/telemetry_status.h"
ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
ORB_DEFINE(telemetry_status, struct telemetry_status_s);
#include "topics/test_motor.h"
ORB_DEFINE(test_motor, struct test_motor_s);
src/modules/uORB/topics/multirotor_motor_limits.h
-68
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@@ -1,68 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
*
* 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 multirotor_motor_limits.h
*
* Definition of multirotor_motor_limits topic
*/
#ifndef MULTIROTOR_MOTOR_LIMITS_H_
#define MULTIROTOR_MOTOR_LIMITS_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Motor limits
*/
struct multirotor_motor_limits_s {
uint8_t lower_limit : 1; // at least one actuator command has saturated on the lower limit
uint8_t upper_limit : 1; // at least one actuator command has saturated on the upper limit
uint8_t yaw : 1; // yaw limit reached
uint8_t reserved : 5; // reserved
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(multirotor_motor_limits);
#endif
src/modules/uORB/topics/safety.h
-57
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@@ -1,57 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
*
* 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 safety.h
*
* Safety topic to pass safety state from px4io driver to commander
* This concerns only the safety button of the px4io but has nothing to do
* with arming/disarming.
*/
#ifndef TOPIC_SAFETY_H
#define TOPIC_SAFETY_H
#include <stdint.h>
#include "../uORB.h"
struct safety_s {
uint64_t timestamp;
bool safety_switch_available; /**< Set to true if a safety switch is connected */
bool safety_off; /**< Set to true if safety is off */
};
ORB_DECLARE(safety);
#endif
src/modules/uORB/topics/satellite_info.h
-89
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@@ -1,89 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @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 satellite_info.h
* Definition of the GNSS satellite info uORB topic.
*/
#ifndef TOPIC_SAT_INFO_H_
#define TOPIC_SAT_INFO_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* GNSS Satellite Info.
*/
#define SAT_INFO_MAX_SATELLITES 20
struct satellite_info_s {
uint64_t timestamp; /**< Timestamp of satellite info */
uint8_t count; /**< Number of satellites in satellite info */
uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
};
/**
* NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs
* u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf
*
* GPS 1-32
* SBAS 120-158
* Galileo 211-246
* BeiDou 159-163, 33-64
* QZSS 193-197
* GLONASS 65-96, 255
*
*/
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(satellite_info);
#endif
src/modules/uORB/topics/telemetry_status.h
-102
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@@ -1,102 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* 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
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/**
* @file telemetry_status.h
*
* Telemetry status topics - radio status outputs
*/
#ifndef TOPIC_TELEMETRY_STATUS_H
#define TOPIC_TELEMETRY_STATUS_H
#include <stdint.h>
#include "../uORB.h"
enum TELEMETRY_STATUS_RADIO_TYPE {
TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
TELEMETRY_STATUS_RADIO_TYPE_WIRE
};
/**
* @addtogroup topics
* @{
*/
struct telemetry_status_s {
uint64_t timestamp;
uint64_t heartbeat_time; /**< Time of last received heartbeat from remote system */
uint64_t telem_time; /**< Time of last received telemetry status packet, 0 for none */
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
uint8_t rssi; /**< local signal strength */
uint8_t remote_rssi; /**< remote signal strength */
uint16_t rxerrors; /**< receive errors */
uint16_t fixed; /**< count of error corrected packets */
uint8_t noise; /**< background noise level */
uint8_t remote_noise; /**< remote background noise level */
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
uint8_t system_id; /**< system id of the remote system */
uint8_t component_id; /**< component id of the remote system */
};
/**
* @}
*/
ORB_DECLARE(telemetry_status_0);
ORB_DECLARE(telemetry_status_1);
ORB_DECLARE(telemetry_status_2);
ORB_DECLARE(telemetry_status_3);
#define TELEMETRY_STATUS_ORB_ID_NUM 4
static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
ORB_ID(telemetry_status_0),
ORB_ID(telemetry_status_1),
ORB_ID(telemetry_status_2),
ORB_ID(telemetry_status_3),
};
// This is a hack to quiet an unused-variable warning for when telemetry_status.h is
// included but telemetry_status_orb_id is not referenced. The inline works if you
// choose to use it, but you can continue to just directly index into the array as well.
// If you don't use the inline this ends up being a no-op with no additional code emitted.
//static const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index);
static inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index)
{
return telemetry_status_orb_id[index];
}
#endif /* TOPIC_TELEMETRY_STATUS_H */