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synced 2026-10-19 11:43:34 +08:00
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts: src/lib/mathlib/math/Matrix.hpp src/modules/mc_att_control/mc_att_control_main.cpp src/modules/uORB/topics/vehicle_status.h src/platforms/px4_includes.h
This commit is contained in:
Thomas Gubler
@@ -63,6 +63,7 @@ ORB_DEFINE(sensor_gyro2, struct gyro_report);
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#include <drivers/drv_baro.h>
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ORB_DEFINE(sensor_baro0, struct baro_report);
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ORB_DEFINE(sensor_baro1, struct baro_report);
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ORB_DEFINE(sensor_baro2, struct baro_report);
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#include <drivers/drv_range_finder.h>
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ORB_DEFINE(sensor_range_finder, struct range_finder_report);
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@@ -246,3 +247,6 @@ ORB_DEFINE(tecs_status, struct tecs_status_s);
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#include "topics/wind_estimate.h"
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ORB_DEFINE(wind_estimate, struct wind_estimate_s);
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#include "topics/rc_parameter_map.h"
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ORB_DEFINE(rc_parameter_map, struct rc_parameter_map_s);
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@@ -0,0 +1,76 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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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_parameter_map.h
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* Maps RC channels to parameters
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#ifndef TOPIC_RC_PARAMETER_MAP_H
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#define TOPIC_RC_PARAMETER_MAP_H
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#include <stdint.h>
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#include "../uORB.h"
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#define RC_PARAM_MAP_NCHAN 3 // This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
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#define PARAM_ID_LEN 16 // corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
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/**
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* @addtogroup topics
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* @{
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*/
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struct rc_parameter_map_s {
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uint64_t timestamp; /**< time at which the map was updated */
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bool valid[RC_PARAM_MAP_NCHAN]; /**< true for RC-Param channels which are mapped to a param */
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int param_index[RC_PARAM_MAP_NCHAN]; /**< corresponding param index, this
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this field is ignored if set to -1, in this case param_id will
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be used*/
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char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1]; /**< corresponding param id, null terminated */
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float scale[RC_PARAM_MAP_NCHAN]; /** scale to map the RC input [-1, 1] to a parameter value */
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float value0[RC_PARAM_MAP_NCHAN]; /** inital value around which the parameter value is changed */
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float value_min[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */
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float value_max[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */
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};
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/**
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* @}
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*/
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ORB_DECLARE(rc_parameter_map);
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#endif
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@@ -122,15 +122,25 @@ struct sensor_combined_s {
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float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
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float baro_alt_meter; /**< Altitude, already temp. comp. */
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float baro_temp_celcius; /**< Temperature in degrees celsius */
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float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
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unsigned adc_mapping[10]; /**< Channel indices of each of these values */
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float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
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uint64_t baro_timestamp; /**< Barometer timestamp */
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float differential_pressure_pa; /**< Airspeed sensor differential pressure */
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uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */
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float baro1_pres_mbar; /**< Barometric pressure, already temp. comp. */
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float baro1_alt_meter; /**< Altitude, already temp. comp. */
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float baro1_temp_celcius; /**< Temperature in degrees celsius */
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uint64_t baro1_timestamp; /**< Barometer timestamp */
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float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
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unsigned adc_mapping[10]; /**< Channel indices of each of these values */
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float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
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float differential_pressure_pa; /**< Airspeed sensor differential pressure */
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uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */
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float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
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float differential_pressure1_pa; /**< Airspeed sensor differential pressure */
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uint64_t differential_pressure1_timestamp; /**< Last measurement timestamp */
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float differential_pressure1_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
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};
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/**
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@@ -62,7 +62,7 @@
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*/
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struct vehicle_global_position_s {
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uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
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uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
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uint64_t time_utc_usec; /**< GPS UTC timestamp in microseconds */
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double lat; /**< Latitude in degrees */
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double lon; /**< Longitude in degrees */
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float alt; /**< Altitude AMSL in meters */
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@@ -79,7 +79,7 @@ struct vehicle_gps_position_s {
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bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
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uint64_t timestamp_time; /**< Timestamp for time information */
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uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
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uint64_t time_utc_usec; /**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
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uint8_t satellites_used; /**< Number of satellites used */
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};
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@@ -54,6 +54,7 @@ struct vtol_vehicle_status_s {
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uint64_t timestamp; /**< Microseconds since system boot */
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bool vtol_in_rw_mode; /*true: vtol vehicle is in rotating wing mode */
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bool fw_permanent_stab; /**< In fw mode stabilize attitude even if in manual mode*/
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};
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/**
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