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Added setpoint triplet

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Lorenz Meier
2012-11-20 15:20:13 +01:00
parent 6ff4520904
commit 3bfc309856
2 changed files with 81 additions and 0 deletions
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apps/uORB/objects_common.cpp
+3
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@@ -95,6 +95,9 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi
#include "topics/vehicle_global_position_setpoint.h"
ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
#include "topics/vehicle_global_position_set_triplet.h"
ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
#include "topics/vehicle_attitude_setpoint.h"
ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
apps/uORB/topics/vehicle_global_position_set_triplet.h
+78
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@@ -0,0 +1,78 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @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
* 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 vehicle_global_position_setpoint.h
* Definition of the global WGS84 position setpoint uORB topic.
*/
#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#include "vehicle_global_position_setpoint.h"
/**
* @addtogroup topics
* @{
*/
/**
* Global position setpoint triplet in WGS84 coordinates.
*
* This are the three next waypoints (or just the next two or one).
*/
struct vehicle_global_position_set_triplet_s
{
bool previous_valid;
bool next_valid;
struct vehicle_global_position_setpoint_s previous;
struct vehicle_global_position_setpoint_s current;
struct vehicle_global_position_setpoint_s next;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_position_set_triplet);
#endif