fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 00:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

WIP, change uorb offboard control sp topic

Browse Source
This commit is contained in:
Thomas Gubler
2014-07-07 13:00:45 +02:00
parent 58adea9469
commit 2d26e91392
3 changed files with 55 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uORB/topics/offboard_control_setpoint.h
+23 -11
View File
@@ -81,19 +81,15 @@ struct offboard_control_setpoint_s {
enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
double p1; /**< ailerons / roll / x pos / lat */
double p2; /**< elevator / pitch / y pos / lon */
float p3; /**< rudder / yaw / z pos / alt */
float p4; /**< throttle / x vel */
float p5; /**< roll rate / y vel */
float p6; /**< pitch rate / z vel */
float p7; /**< yaw rate / x acc */
float p8; /**< y acc */
float p9; /**< z acc */
double position[3]; /**< lat, lon, alt / x, y, z */
float velocity[3]; /**< x vel, y vel, z vel */
float acceleration[3]; /**< x acc, y acc, z acc */
float attitude[4]; /**< attitude of vehicle (quaternion) */
float attitude_rate[3]; /**< body angular rates (x, y, z) */
//XXX: use a bitmask with wrapper functions instead
bool ignore[9]; /**< if field i is set to true, pi should be ignored */
bool isForceSetpoint; /**< if set to true: p7 to p9 should be interpreted as force instead of acceleration */
uint16_t ignore; /**< if field i is set to true, pi should be ignored */
bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */
float override_mode_switch;
@@ -107,6 +103,22 @@ struct offboard_control_setpoint_s {
* @}
*/
inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << index));
}
inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (3 + index)));
}
inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (6 + index)));
}
inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (9 + index)));
}
/* register this as object request broker structure */
ORB_DECLARE(offboard_control_setpoint);