mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 07:03:34 +08:00
Merged beta into paul_estimator
This commit is contained in:
Lorenz Meier
@@ -117,17 +117,21 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi
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#include "topics/vehicle_bodyframe_speed_setpoint.h"
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ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s);
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#include "topics/vehicle_global_position_setpoint.h"
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ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
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#include "topics/vehicle_global_position_set_triplet.h"
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ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
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#include "topics/position_setpoint_triplet.h"
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ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
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#include "topics/vehicle_global_velocity_setpoint.h"
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ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
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#include "topics/mission.h"
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ORB_DEFINE(mission, struct mission_s);
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ORB_DEFINE(onboard_mission, struct mission_s);
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#include "topics/mission_result.h"
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ORB_DEFINE(mission_result, struct mission_result_s);
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#include "topics/fence.h"
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ORB_DEFINE(fence, unsigned);
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#include "topics/vehicle_attitude_setpoint.h"
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ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
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@@ -0,0 +1,80 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Jean Cyr <jean.m.cyr@gmail.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file fence.h
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* Definition of geofence.
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*/
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#ifndef TOPIC_FENCE_H_
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#define TOPIC_FENCE_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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* @{
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*/
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#define GEOFENCE_MAX_VERTICES 16
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/**
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* This is the position of a geofence vertex
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*
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*/
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struct fence_vertex_s {
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// Worst case float precision gives us 2 meter resolution at the equator
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float lat; /**< latitude in degrees */
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float lon; /**< longitude in degrees */
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};
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/**
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* This is the position of a geofence
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*
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*/
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struct fence_s {
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unsigned count; /**< number of actual vertices */
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struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES];
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(fence);
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#endif
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@@ -2,6 +2,7 @@
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*
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* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -34,9 +35,10 @@
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/**
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* @file home_position.h
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* Definition of the GPS home position uORB topic.
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* Definition of the home position uORB topic.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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*/
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#ifndef TOPIC_HOME_POSITION_H_
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@@ -53,17 +55,14 @@
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/**
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* GPS home position in WGS84 coordinates.
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*/
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struct home_position_s {
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uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
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uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module */
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struct home_position_s
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{
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uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
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int32_t lat; /**< Latitude in 1E7 degrees */
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int32_t lon; /**< Longitude in 1E7 degrees */
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int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
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float eph_m; /**< GPS HDOP horizontal dilution of position in m */
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float epv_m; /**< GPS VDOP horizontal dilution of position in m */
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float s_variance_m_s; /**< speed accuracy estimate m/s */
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float p_variance_m; /**< position accuracy estimate m */
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//bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then
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double lat; /**< Latitude in degrees */
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double lon; /**< Longitude in degrees */
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float alt; /**< Altitude in meters */
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};
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/**
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@@ -35,8 +35,8 @@
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****************************************************************************/
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/**
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* @file mission_item.h
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* Definition of one mission item.
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* @file mission.h
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* Definition of a mission consisting of mission items.
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*/
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#ifndef TOPIC_MISSION_H_
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@@ -46,14 +46,24 @@
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#include <stdbool.h>
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#include "../uORB.h"
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#define NUM_MISSIONS_SUPPORTED 256
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/* compatible to mavlink MAV_CMD */
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enum NAV_CMD {
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NAV_CMD_WAYPOINT = 0,
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NAV_CMD_LOITER_TURN_COUNT,
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NAV_CMD_LOITER_TIME_LIMIT,
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NAV_CMD_LOITER_UNLIMITED,
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NAV_CMD_RETURN_TO_LAUNCH,
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NAV_CMD_LAND,
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NAV_CMD_TAKEOFF
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NAV_CMD_WAYPOINT=16,
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NAV_CMD_LOITER_UNLIMITED=17,
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NAV_CMD_LOITER_TURN_COUNT=18,
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NAV_CMD_LOITER_TIME_LIMIT=19,
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NAV_CMD_RETURN_TO_LAUNCH=20,
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NAV_CMD_LAND=21,
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NAV_CMD_TAKEOFF=22,
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NAV_CMD_ROI=80,
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NAV_CMD_PATHPLANNING=81
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};
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enum ORIGIN {
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ORIGIN_MAVLINK = 0,
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ORIGIN_ONBOARD
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};
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/**
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@@ -69,22 +79,25 @@ enum NAV_CMD {
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*/
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struct mission_item_s {
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bool altitude_is_relative; /**< true if altitude is relative from start point */
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double lat; /**< latitude in degrees * 1E7 */
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double lon; /**< longitude in degrees * 1E7 */
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double lat; /**< latitude in degrees */
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double lon; /**< longitude in degrees */
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float altitude; /**< altitude in meters */
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float yaw; /**< in radians NED -PI..+PI */
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float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
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float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
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uint8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
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enum NAV_CMD nav_cmd; /**< true if loitering is enabled */
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float param1;
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float param2;
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float param3;
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float param4;
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int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
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enum NAV_CMD nav_cmd; /**< navigation command */
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float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
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float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
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float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
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bool autocontinue; /**< true if next waypoint should follow after this one */
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enum ORIGIN origin; /**< where the waypoint has been generated */
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};
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struct mission_s {
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struct mission_item_s *items;
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unsigned count;
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struct mission_s
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{
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int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */
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unsigned count; /**< count of the missions stored in the datamanager */
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int current_index; /**< default -1, start at the one changed latest */
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};
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/**
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@@ -93,5 +106,6 @@ struct mission_s {
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/* register this as object request broker structure */
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ORB_DECLARE(mission);
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ORB_DECLARE(onboard_mission);
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#endif
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+9
-19
@@ -35,36 +35,26 @@
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****************************************************************************/
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/**
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* @file vehicle_global_position_setpoint.h
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* Definition of the global WGS84 position setpoint uORB topic.
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* @file mission_result.h
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* Mission results that navigator needs to pass on to commander and mavlink.
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*/
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#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
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#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
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#ifndef TOPIC_MISSION_RESULT_H
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#define TOPIC_MISSION_RESULT_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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#include "vehicle_global_position_setpoint.h"
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/**
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* @addtogroup topics
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* @{
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*/
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/**
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* Global position setpoint triplet in WGS84 coordinates.
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*
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* This are the three next waypoints (or just the next two or one).
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*/
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struct vehicle_global_position_set_triplet_s {
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bool previous_valid; /**< flag indicating previous position is valid */
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bool next_valid; /**< flag indicating next position is valid */
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struct vehicle_global_position_setpoint_s previous;
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struct vehicle_global_position_setpoint_s current;
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struct vehicle_global_position_setpoint_s next;
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struct mission_result_s
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{
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bool mission_reached; /**< true if mission has been reached */
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unsigned mission_index; /**< index of the mission which has been reached */
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};
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/**
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@@ -72,6 +62,6 @@ struct vehicle_global_position_set_triplet_s {
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(vehicle_global_position_set_triplet);
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ORB_DECLARE(mission_result);
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#endif
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@@ -52,7 +52,12 @@
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* Airspeed
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*/
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struct navigation_capabilities_s {
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float turn_distance; /**< the optimal distance to a waypoint to switch to the next */
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float turn_distance; /**< the optimal distance to a waypoint to switch to the next */
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/* Landing parameters: see fw_pos_control_l1/landingslope.h */
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float landing_horizontal_slope_displacement;
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float landing_slope_angle_rad;
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float landing_flare_length;
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};
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/**
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+37
-24
@@ -1,6 +1,6 @@
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/****************************************************************************
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*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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@@ -35,44 +35,57 @@
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****************************************************************************/
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/**
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* @file vehicle_global_position_setpoint.h
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* @file mission_item_triplet.h
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* Definition of the global WGS84 position setpoint uORB topic.
|
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*/
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#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
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#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
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#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
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#define TOPIC_MISSION_ITEM_TRIPLET_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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#include "mission.h"
|
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#include <navigator/navigator_state.h>
|
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|
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/**
|
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* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
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enum SETPOINT_TYPE
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{
|
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SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */
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SETPOINT_TYPE_LOITER, /**< loiter setpoint */
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SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */
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SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, vehicle must descend until landing */
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SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */
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};
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|
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struct position_setpoint_s
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{
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bool valid; /**< true if setpoint is valid */
|
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enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */
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double lat; /**< latitude, in deg */
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double lon; /**< longitude, in deg */
|
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float alt; /**< altitude AMSL, in m */
|
||||
float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
|
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float loiter_radius; /**< loiter radius (only for fixed wing), in m */
|
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int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */
|
||||
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
|
||||
};
|
||||
|
||||
/**
|
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* Global position setpoint in WGS84 coordinates.
|
||||
* Global position setpoint triplet in WGS84 coordinates.
|
||||
*
|
||||
* This is the position the MAV is heading towards. If it of type loiter,
|
||||
* the MAV is circling around it with the given loiter radius in meters.
|
||||
* This are the three next waypoints (or just the next two or one).
|
||||
*/
|
||||
struct vehicle_global_position_setpoint_s {
|
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bool altitude_is_relative; /**< true if altitude is relative from start point */
|
||||
int32_t lat; /**< latitude in degrees * 1E7 */
|
||||
int32_t lon; /**< longitude in degrees * 1E7 */
|
||||
float altitude; /**< altitude in meters */
|
||||
float yaw; /**< in radians NED -PI..+PI */
|
||||
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
|
||||
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
|
||||
enum NAV_CMD nav_cmd; /**< true if loitering is enabled */
|
||||
float param1;
|
||||
float param2;
|
||||
float param3;
|
||||
float param4;
|
||||
float turn_distance_xy; /**< The distance on the plane which will mark this as reached */
|
||||
float turn_distance_z; /**< The distance in Z direction which will mark this as reached */
|
||||
struct position_setpoint_triplet_s
|
||||
{
|
||||
struct position_setpoint_s previous;
|
||||
struct position_setpoint_s current;
|
||||
struct position_setpoint_s next;
|
||||
|
||||
nav_state_t nav_state; /**< navigation state */
|
||||
};
|
||||
|
||||
/**
|
||||
@@ -80,6 +93,6 @@ struct vehicle_global_position_setpoint_s {
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_global_position_setpoint);
|
||||
ORB_DECLARE(position_setpoint_triplet);
|
||||
|
||||
#endif
|
||||
@@ -57,14 +57,14 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
|
||||
|
||||
struct telemetry_status_s {
|
||||
uint64_t timestamp;
|
||||
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
|
||||
unsigned rssi; /**< local signal strength */
|
||||
unsigned remote_rssi; /**< remote signal strength */
|
||||
unsigned rxerrors; /**< receive errors */
|
||||
unsigned fixed; /**< count of error corrected packets */
|
||||
uint8_t noise; /**< background noise level */
|
||||
uint8_t remote_noise; /**< remote background noise level */
|
||||
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
|
||||
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
|
||||
uint8_t rssi; /**< local signal strength */
|
||||
uint8_t remote_rssi; /**< remote signal strength */
|
||||
uint16_t rxerrors; /**< receive errors */
|
||||
uint16_t fixed; /**< count of error corrected packets */
|
||||
uint8_t noise; /**< background noise level */
|
||||
uint8_t remote_noise; /**< remote background noise level */
|
||||
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
|
||||
};
|
||||
|
||||
/**
|
||||
@@ -73,4 +73,4 @@ struct telemetry_status_s {
|
||||
|
||||
ORB_DECLARE(telemetry_status);
|
||||
|
||||
#endif /* TOPIC_TELEMETRY_STATUS_H */
|
||||
#endif /* TOPIC_TELEMETRY_STATUS_H */
|
||||
|
||||
@@ -76,6 +76,7 @@ struct vehicle_attitude_s {
|
||||
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) */
|
||||
float g_comp[3]; /**< Compensated gravity vector */
|
||||
bool R_valid; /**< Rotation matrix valid */
|
||||
bool q_valid; /**< Quaternion valid */
|
||||
|
||||
|
||||
@@ -60,7 +60,7 @@ struct vehicle_attitude_setpoint_s {
|
||||
float yaw_body; /**< body angle in NED frame */
|
||||
//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 */
|
||||
float R_body[3][3]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
|
||||
bool R_valid; /**< Set to true if rotation matrix is valid */
|
||||
|
||||
//! For quaternion-based attitude control
|
||||
|
||||
@@ -1,10 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -40,6 +36,11 @@
|
||||
* Definition of the vehicle_control_mode uORB topic.
|
||||
*
|
||||
* All control apps should depend their actions based on the flags set here.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
*/
|
||||
|
||||
#ifndef VEHICLE_CONTROL_MODE
|
||||
@@ -48,6 +49,7 @@
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
#include "vehicle_status.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics @{
|
||||
@@ -59,6 +61,7 @@
|
||||
*
|
||||
* Encodes the complete system state and is set by the commander app.
|
||||
*/
|
||||
|
||||
struct vehicle_control_mode_s {
|
||||
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
|
||||
|
||||
@@ -70,16 +73,14 @@ struct vehicle_control_mode_s {
|
||||
bool flag_system_hil_enabled;
|
||||
|
||||
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
|
||||
bool flag_control_offboard_enabled; /**< true if offboard control input is on */
|
||||
bool flag_control_auto_enabled; /**< true if onboard autopilot should act */
|
||||
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_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */
|
||||
bool flag_control_position_enabled; /**< true if position is controlled */
|
||||
bool flag_control_altitude_enabled; /**< true if altitude is controlled */
|
||||
bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */
|
||||
|
||||
bool flag_control_auto_enabled; // TEMP
|
||||
uint8_t auto_state; // TEMP navigation state for AUTO modes
|
||||
bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */
|
||||
bool flag_control_termination_enabled; /**< true if flighttermination is enabled */
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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>
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -37,6 +34,10 @@
|
||||
/**
|
||||
* @file vehicle_global_position.h
|
||||
* Definition of the global fused WGS84 position uORB topic.
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#ifndef VEHICLE_GLOBAL_POSITION_T_H_
|
||||
@@ -51,27 +52,30 @@
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Fused global position in WGS84.
|
||||
*
|
||||
* This struct contains the system's believ about its position. It is not the raw GPS
|
||||
* measurement (@see vehicle_gps_position). This topic is usually published by the position
|
||||
* estimator, which will take more sources of information into account than just GPS,
|
||||
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
*/
|
||||
/**
|
||||
* Fused global position in WGS84.
|
||||
*
|
||||
* This struct contains global position estimation. It is not the raw GPS
|
||||
* measurement (@see vehicle_gps_position). This topic is usually published by the position
|
||||
* estimator, which will take more sources of information into account than just GPS,
|
||||
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
*/
|
||||
struct vehicle_global_position_s {
|
||||
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
|
||||
uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
|
||||
bool valid; /**< true if position satisfies validity criteria of estimator */
|
||||
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
|
||||
|
||||
int32_t lat; /**< Latitude in 1E7 degrees */
|
||||
int32_t lon; /**< Longitude in 1E7 degrees */
|
||||
float alt; /**< Altitude in meters */
|
||||
float relative_alt; /**< Altitude above home position in meters, */
|
||||
float vx; /**< Ground X velocity, m/s in NED */
|
||||
float vy; /**< Ground Y velocity, m/s in NED */
|
||||
float vz; /**< Ground Z velocity, m/s in NED */
|
||||
float yaw; /**< Compass heading in radians -PI..+PI. */
|
||||
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 */
|
||||
float alt; /**< Altitude AMSL in meters */
|
||||
float vel_n; /**< Ground north velocity, m/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) */
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@@ -76,6 +76,11 @@ struct vehicle_local_position_s {
|
||||
int32_t ref_lon; /**< Reference point longitude in 1E7 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 */
|
||||
float dist_bottom; /**< Distance to bottom surface (ground) */
|
||||
float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */
|
||||
uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */
|
||||
bool dist_bottom_valid; /**< true if distance to bottom surface is valid */
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@@ -54,6 +54,8 @@
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
#include <navigator/navigator_state.h>
|
||||
|
||||
/**
|
||||
* @addtogroup topics @{
|
||||
*/
|
||||
@@ -64,22 +66,9 @@ typedef enum {
|
||||
MAIN_STATE_SEATBELT,
|
||||
MAIN_STATE_EASY,
|
||||
MAIN_STATE_AUTO,
|
||||
MAIN_STATE_MAX
|
||||
} main_state_t;
|
||||
|
||||
/* navigation state machine */
|
||||
typedef enum {
|
||||
NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization
|
||||
NAVIGATION_STATE_STABILIZE, // attitude stabilization
|
||||
NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization
|
||||
NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization
|
||||
NAVIGATION_STATE_AUTO_READY, // AUTO, landed, reeady for takeoff
|
||||
NAVIGATION_STATE_AUTO_TAKEOFF, // detect takeoff using land detector and switch to desired AUTO mode
|
||||
NAVIGATION_STATE_AUTO_LOITER, // pause mission
|
||||
NAVIGATION_STATE_AUTO_MISSION, // fly mission
|
||||
NAVIGATION_STATE_AUTO_RTL, // Return To Launch, when home position switch to LAND
|
||||
NAVIGATION_STATE_AUTO_LAND // land and switch to AUTO_READY when landed (detect using land detector)
|
||||
} navigation_state_t;
|
||||
|
||||
typedef enum {
|
||||
ARMING_STATE_INIT = 0,
|
||||
ARMING_STATE_STANDBY,
|
||||
@@ -87,7 +76,8 @@ typedef enum {
|
||||
ARMING_STATE_ARMED_ERROR,
|
||||
ARMING_STATE_STANDBY_ERROR,
|
||||
ARMING_STATE_REBOOT,
|
||||
ARMING_STATE_IN_AIR_RESTORE
|
||||
ARMING_STATE_IN_AIR_RESTORE,
|
||||
ARMING_STATE_MAX
|
||||
} arming_state_t;
|
||||
|
||||
typedef enum {
|
||||
@@ -95,6 +85,14 @@ typedef enum {
|
||||
HIL_STATE_ON
|
||||
} hil_state_t;
|
||||
|
||||
typedef enum {
|
||||
FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */
|
||||
FAILSAFE_STATE_RTL, /**< Return To Launch */
|
||||
FAILSAFE_STATE_LAND, /**< Land without position control */
|
||||
FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */
|
||||
FAILSAFE_STATE_MAX
|
||||
} failsafe_state_t;
|
||||
|
||||
typedef enum {
|
||||
MODE_SWITCH_MANUAL = 0,
|
||||
MODE_SWITCH_ASSISTED,
|
||||
@@ -108,11 +106,13 @@ typedef enum {
|
||||
|
||||
typedef enum {
|
||||
RETURN_SWITCH_NONE = 0,
|
||||
RETURN_SWITCH_NORMAL,
|
||||
RETURN_SWITCH_RETURN
|
||||
} return_switch_pos_t;
|
||||
|
||||
typedef enum {
|
||||
MISSION_SWITCH_NONE = 0,
|
||||
MISSION_SWITCH_LOITER,
|
||||
MISSION_SWITCH_MISSION
|
||||
} mission_switch_pos_t;
|
||||
|
||||
@@ -175,9 +175,11 @@ struct vehicle_status_s {
|
||||
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
|
||||
|
||||
main_state_t main_state; /**< main state machine */
|
||||
navigation_state_t navigation_state; /**< navigation state machine */
|
||||
unsigned int set_nav_state; /**< set navigation state machine to specified value */
|
||||
uint64_t set_nav_state_timestamp; /**< timestamp of latest change of set_nav_state */
|
||||
arming_state_t arming_state; /**< current arming state */
|
||||
hil_state_t hil_state; /**< current hil state */
|
||||
failsafe_state_t failsafe_state; /**< current failsafe state */
|
||||
|
||||
int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
|
||||
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
|
||||
|
||||
Reference in New Issue
Block a user