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move vehicle_attitude_setpoint to msg format

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Thomas Gubler
2014-12-08 10:37:01 +01:00
parent 65629d09d5
commit 87df7c3243
11 changed files with 66 additions and 64 deletions
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src/modules/uORB/topics/vehicle_attitude_setpoint.h
+22 -37
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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>
* Copyright (C) 2013-2014 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
@@ -32,49 +31,37 @@
*
****************************************************************************/
/**
* @file vehicle_attitude_setpoint.h
* Definition of the vehicle attitude setpoint uORB topic.
*/
/* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/vehicle_attitude_setpoint.msg */
#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include <platforms/px4_defines.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* vehicle attitude setpoint.
*/
struct vehicle_attitude_setpoint_s {
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
float roll_body; /**< body angle in NED frame */
float pitch_body; /**< body angle in NED frame */
float yaw_body; /**< body angle in NED frame */
//float body_valid; /**< Set to true if body angles are valid */
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
float q_d[4]; /** Desired quaternion for quaternion control */
bool q_d_valid; /**< Set to true if quaternion vector is valid */
float q_e[4]; /** Attitude error in quaternion */
bool q_e_valid; /**< Set to true if quaternion error vector is valid */
float thrust; /**< Thrust in Newton the power system should generate */
bool roll_reset_integral; /**< Reset roll integral part (navigation logic change) */
bool pitch_reset_integral; /**< Reset pitch integral part (navigation logic change) */
bool yaw_reset_integral; /**< Reset yaw integral part (navigation logic change) */
uint64_t timestamp;
float roll_body;
float pitch_body;
float yaw_body;
float R_body[9];
bool R_valid;
float q_d[4];
bool q_d_valid;
float q_e[4];
bool q_e_valid;
float thrust;
bool roll_reset_integral;
bool pitch_reset_integral;
bool yaw_reset_integral;
};
/**
@@ -83,5 +70,3 @@ struct vehicle_attitude_setpoint_s {
/* register this as object request broker structure */
ORB_DECLARE(vehicle_attitude_setpoint);
#endif /* TOPIC_ARDRONE_CONTROL_H_ */