Reworked control interface, needs testing / validation

apps/uORB/objects_common.cpp

@@ -78,8 +78,8 @@ ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 #include "topics/vehicle_local_position.h"
 ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
 
-#include "topics/ardrone_motors_setpoint.h"
-ORB_DEFINE(ardrone_motors_setpoint, struct ardrone_motors_setpoint_s);
+#include "topics/vehicle_rates_setpoint.h"
+ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
 
 #include "topics/rc_channels.h"
 ORB_DEFINE(rc_channels, struct rc_channels_s);

apps/uORB/topics/vehicle_attitude_setpoint.h

@@ -56,21 +56,18 @@ struct vehicle_attitude_setpoint_s
 {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
-	float roll_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	float tait_bryan_valid;			/**< Set to true if Tait-Bryan angles are valid */
+	//float roll_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	//float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	//float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	//float tait_bryan_valid;			/**< Set to true if Tait-Bryan angles are valid */
 
 	float roll_body;				/**< body angle in NED frame		*/
 	float pitch_body;				/**< body angle in NED frame		*/
 	float yaw_body;					/**< body angle in NED frame		*/
-	float roll_rate_body;				/**< body angle in NED frame		*/
-	float pitch_rate_body;				/**< body angle in NED frame		*/
-	float yaw_rate_body;					/**< body angle in NED frame		*/
-	float body_valid;				/**< Set to true if Tait-Bryan angles are valid */
+	//float body_valid;				/**< Set to true if body angles are valid */
 
-	float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
-	bool R_valid;					/**< Set to true if rotation matrix is valid */
+	//float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
+	//bool R_valid;					/**< Set to true if rotation matrix is valid */
 
 	float thrust;					/**< Thrust in Newton the power system should generate */
 

apps/uORB/topics/vehicle_command.h

@@ -50,6 +50,10 @@
  * @{
  */
 
+enum PX4_CMD {
+	PX4_CMD_CONTROLLER_SELECTION = 1000,
+};
+
 struct vehicle_command_s
 {
 	float param1;			/**< Parameter 1, as defined by MAVLink MAV_CMD enum.   */

apps/uORB/topics/vehicle_rates_setpoint.h

@@ -33,12 +33,12 @@
  ****************************************************************************/
 
 /**
- * @file ardrone_motors_setpoint.h
- * Definition of the ardrone_motors_setpoint uORB topic.
+ * @file vehicle_rates_setpoint.h
+ * Definition of the vehicle rates setpoint topic
  */
 
-#ifndef TOPIC_ARDRONE_MOTORS_SETPOINT_H_
-#define TOPIC_ARDRONE_MOTORS_SETPOINT_H_
+#ifndef TOPIC_VEHICLE_RATES_SETPOINT_H_
+#define TOPIC_VEHICLE_RATES_SETPOINT_H_
 
 #include <stdint.h>
 #include "../uORB.h"
@@ -48,23 +48,22 @@
  * @{
  */
 
-struct ardrone_motors_setpoint_s
+struct vehicle_rates_setpoint_s
 {
-	uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
+	uint64_t timestamp; /**< in microseconds since system start */
 
-	uint8_t group;	/**< quadrotor group */
-	uint8_t mode;	/**< requested flight mode XXX define */
-	float p1;		/**< parameter 1: rate control: roll rate, att control: roll angle (in radians, NED) */
-	float p2;		/**< parameter 2: rate control: pitch rate, att control: pitch angle (in radians, NED) */
-	float p3;		/**< parameter 3: rate control: yaw rate, att control: yaw angle (in radians, NED) */
-	float p4;		/**< parameter 4: thrust, [0..1] */
-}; /**< AR.Drone low level motors */
+	float roll;	/**< body angular rates in NED frame		*/
+	float pitch;	/**< body angular rates in NED frame		*/
+	float yaw;	/**< body angular rates in NED frame		*/
+	float thrust;	/**< thrust normalized to 0..1			*/
+
+}; /**< vehicle_rates_setpoint */
 
  /**
  * @}
  */
 
 /* register this as object request broker structure */
-ORB_DECLARE(ardrone_motors_setpoint);
+ORB_DECLARE(vehicle_rates_setpoint);
 
 #endif

apps/uORB/topics/vehicle_status.h

@@ -127,7 +127,7 @@ struct vehicle_status_s
 
 	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
 	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
-	bool flag_control_speed_enabled;		/**< true if speed (implies direction) is controlled */
+	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */
 	bool flag_control_position_enabled;		/**< true if position is controlled */
 
 	bool flag_preflight_gyro_calibration;		/**< true if gyro calibration is requested */