commander_helper.h
3.37 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
/****************************************************************************
*
* Copyright (c) 2013, 2014 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 commander_helper.h
* Commander helper functions definitions
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
*/
#ifndef COMMANDER_HELPER_H_
#define COMMANDER_HELPER_H_
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <drivers/drv_led.h>
#include <drivers/drv_board_led.h>
bool is_multirotor(const struct vehicle_status_s *current_status);
bool is_rotary_wing(const struct vehicle_status_s *current_status);
bool is_vtol(const struct vehicle_status_s *current_status);
bool is_vtol_tailsitter(const struct vehicle_status_s *current_status);
bool is_fixed_wing(const struct vehicle_status_s *current_status);
bool is_ground_rover(const struct vehicle_status_s *current_status);
int buzzer_init(void);
void buzzer_deinit(void);
void set_tune_override(int tune);
void set_tune(int tune);
void tune_home_set(bool use_buzzer);
void tune_mission_ok(bool use_buzzer);
void tune_mission_fail(bool use_buzzer);
void tune_positive(bool use_buzzer);
void tune_neutral(bool use_buzzer);
void tune_negative(bool use_buzzer);
void tune_failsafe(bool use_buzzer);
int blink_msg_state();
/* methods to control the onboard LED(s) */
int led_init(void);
void led_deinit(void);
int led_toggle(int led);
int led_on(int led);
int led_off(int led);
/**
* set the LED color & mode
* @param color @see led_control_s::COLOR_*
* @param mode @see led_control_s::MODE_*
*/
void rgbled_set_color_and_mode(uint8_t color, uint8_t mode);
void rgbled_set_color_and_mode(uint8_t color, uint8_t mode, uint8_t blinks, uint8_t prio);
#endif /* COMMANDER_HELPER_H_ */