Copy implementation

Add msgs

msg/CMakeLists.txt

@@ -206,6 +206,12 @@ set(msg_files
 	SensorsStatusImu.msg
 	SensorUwb.msg
 	SensorAirflow.msg
+	soaring_controller_heartbeat.msg
+	soaring_controller_position_setpoint.msg
+	soaring_controller_position.msg
+	soaring_controller_status.msg
+	soaring_controller_wind.msg
+	soaring_estimator_shear.msg
 	SystemPower.msg
 	TakeoffStatus.msg
 	TaskStackInfo.msg

msg/soaring_controller_heartbeat.msg

@@ -0,0 +1,5 @@
+# SOARING CONTROLLER STATE, SERVES AS A HEARTBEAT IF CONTROLLER IS STILL PUBLISHING
+
+uint64 timestamp			# time since system start (microseconds)
+
+uint64 heartbeat            # time since system start (microseconds) of the last run of soaring controller

msg/soaring_controller_position.msg

@@ -0,0 +1,8 @@
+# SOARING CONTROLLER POSITION IN ENU SOARING FRAME
+
+uint64 timestamp			# time since system start (microseconds)
+
+float32[3] pos                            # POSITION VECTOR IN SOARING ENU FRAME
+float32[3] vel                            # VELOCITY VECTOR IN SOARING ENU FRAME
+float32[3] acc                            # ACCELERATION VECTOR IN SOARING ENU FRAME
+float32[4] att                            # UNIT QUATERNION DESCRIBING BODY FRAME POSE TO ENU

msg/soaring_controller_position_setpoint.msg

@@ -0,0 +1,12 @@
+# SOARING CONTROLLER POSITION SETPOINT
+
+uint64 timestamp			# time since system start (microseconds)
+
+float32[3] pos                             # position in ENU frame
+float32[3] vel                             # velocity in ENU frame
+float32[3] acc                             # acceleration in ENU frame
+float32[3] f_command                       # force command inside controller
+float32[3] m_command                       # moment command inside controller
+float32[3] w_err                           # rotation vector to target pose
+
+

msg/soaring_controller_status.msg

@@ -0,0 +1,6 @@
+# SOARING CONTROLLER STATE, SERVES AS FLAG IF CONTROLLER IS STILL PUBLISHING
+
+uint64 timestamp			# time since system start (microseconds)
+
+bool soaring_controller_running     # if true, the soaring controller is expected to publish
+bool timeout_detected               # if true, the soaring controller has crashed

msg/soaring_controller_wind.msg

@@ -0,0 +1,11 @@
+# SOARING CONTROLLER WIND ESTIMATE, USED FOR INDI CONTROL
+
+uint64 timestamp			# time since system start (microseconds)
+
+float32[3] wind_estimate                            # WIND ESTIMATE IN ENU FRAME
+float32[3] wind_estimate_filtered                   # LP-FILTERED WIND ESTIMATE IN ENU FRAME, USED BY INDI CONTROLLER
+float32[3] position                                 # position of the current estimate in the soaring frame
+float32    airspeed                                 # current airspeed
+
+bool valid                                          # tell, if estimate is valid for shear estimator
+bool lock_params                                    # tell, if the shear estimator shall lock shear param values for soaring

msg/soaring_estimator_shear.msg

@@ -0,0 +1,30 @@
+# SOARING ESTIMATOR WIND ESTIMATE, USED FOR SELECTING THE CORRECT TRAJECTORY
+
+uint64 timestamp			# time since system start (microseconds)
+
+float32 vx                  # maximum wind in x-direction
+float32 vy                  # maximum wind in y-direction
+float32 bx                  # wind offset in x-direction
+float32 by                  # wind offset in y-direction
+float32 h                   # vertical position of shear layer in soaring frame
+float32 a                   # shear strength
+
+float32 sigma_vx            # covariance of vx
+float32 sigma_vy            # covariance of vy
+float32 sigma_bx            # covariance of bx
+float32 sigma_by            # covariance of by
+float32 sigma_h             # covariance of h
+float32 sigma_a             # covariance of a
+
+float32 coeff_0             # offset vertical wind
+float32 coeff_1             # linear coeff vertical wind
+float32 coeff_2             # quadratic coeff vertical wind
+
+float32 v_max               # discrete value of v_max (shear velocity), identifier for appropriate trajectrory
+float32 alpha               # discrete value of alpha (shear strength), identifier for appropriate trajectrory
+float32 h_ref               # discrete value of h_ref (shear location)
+float32 psi                 # discrete value of shear heading
+float32 aspd                # airspeed identifier for appropriate trajectrory
+
+bool soaring_feasible       # plausibility check
+uint64 reset_counter        # filter reset counter