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Merge branch 'mpc_rc' of https://github.com/TickTock-/Firmware into rc_merged

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TickTock-
2014-04-25 20:30:01 -07:00
parent 971e8fc4ff 88149311ea
commit 31b5d0f5c8
19 changed files with 572 additions and 433 deletions
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src/modules/uORB/topics/optical_flow.h
+1
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@@ -57,6 +57,7 @@ struct optical_flow_s {
uint64_t timestamp; /**< in microseconds since system start */
uint64_t flow_timestamp; /**< timestamp from flow sensor */
int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */
int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */
float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */
src/modules/uORB/topics/vehicle_global_position.h
+2 -5
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@@ -63,9 +63,6 @@
struct vehicle_global_position_s {
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
bool global_valid; /**< true if position satisfies validity criteria of estimator */
bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */
uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
@@ -74,8 +71,8 @@ struct vehicle_global_position_s {
float vel_e; /**< Ground east velocity, m/s */
float vel_d; /**< Ground downside velocity, m/s */
float yaw; /**< Yaw in radians -PI..+PI. */
float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */
float eph;
float epv;
};
/**
src/modules/uORB/topics/vehicle_local_position.h
+5 -3
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@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @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
@@ -35,6 +34,9 @@
/**
* @file vehicle_local_position.h
* Definition of the local fused NED position uORB topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
@@ -72,8 +74,8 @@ struct vehicle_local_position_s {
bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */
uint64_t ref_timestamp; /**< Time when reference position was set */
int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */
int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */
double ref_lat; /**< Reference point latitude in degrees */
double ref_lon; /**< Reference point longitude in degrees */
float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
bool landed; /**< true if vehicle is landed */
/* Distance to surface */