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Merge branch 'master' of github.com:PX4/Firmware into px4io-i2c

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Lorenz Meier
2013-02-16 16:46:57 +01:00
parent 6eb69b07a8 781845587c
commit 400b073aa3
58 changed files with 3255 additions and 770 deletions
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apps/uORB/topics/home_position.h
+4 -4
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@@ -61,10 +61,10 @@ struct home_position_s
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
float s_variance; /**< speed accuracy estimate cm/s */
float p_variance; /**< position accuracy estimate cm */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
float s_variance_m_s; /**< speed accuracy estimate m/s */
float p_variance_m; /**< position accuracy estimate m */
};
/**
apps/uORB/topics/vehicle_attitude.h
Regular → Executable
+16 -19
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@@ -57,29 +57,26 @@
*/
struct vehicle_attitude_s {
/*
* Actual data, this is specific to the type of data which is stored in this struct
* A line containing L0GME will be added by the Python logging code generator to the
* logged dataset.
*/
uint64_t timestamp; /**< in microseconds since system start */
uint64_t timestamp; /**< in microseconds since system start */
/* This is similar to the mavlink message ATTITUDE, but for onboard use */
/* @warning Roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
float roll; /**< Roll angle (rad, Tait-Bryan, NED) LOGME */
float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) LOGME */
float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) LOGME */
float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) LOGME */
float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) LOGME */
float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) LOGME */
float rate_offsets[3];/**< Offsets of the body angular rates from zero */
float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
float q[4]; /**< Quaternion (NED) */
bool R_valid; /**< Rotation matrix valid */
bool q_valid; /**< Quaternion valid */
uint16_t counter; /**< Counter of all attitude messages (wraps) */
float roll; /**< Roll angle (rad, Tait-Bryan, NED) */
float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */
float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */
float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */
float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */
float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */
float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */
float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */
float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */
float rate_offsets[3]; /**< Offsets of the body angular rates from zero */
float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
float q[4]; /**< Quaternion (NED) */
bool R_valid; /**< Rotation matrix valid */
bool q_valid; /**< Quaternion valid */
};
apps/uORB/topics/vehicle_gps_position.h
+29 -26
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@@ -55,35 +55,38 @@
*/
struct vehicle_gps_position_s
{
uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
uint32_t counter; /**< Count of GPS messages */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
int32_t lat; /**< Latitude in 1E7 degrees //LOGME */
int32_t lon; /**< Longitude in 1E7 degrees //LOGME */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL //LOGME */
uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */
uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */
uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
float s_variance; /**< speed accuracy estimate cm/s */
float p_variance; /**< position accuracy estimate cm */
uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */
float vel_n; /**< GPS ground speed in m/s */
float vel_e; /**< GPS ground speed in m/s */
float vel_d; /**< GPS ground speed in m/s */
uint16_t cog; /**< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float p_variance_m; /**< position accuracy estimate m */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
uint8_t satellite_prn[20]; /**< Global satellite ID */
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */
uint8_t satellite_info_available; /**< 0 for no info, 1 for info available */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
/* flags */
float vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
uint8_t satellite_prn[20]; /**< Global satellite ID */
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
};
/**