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Lorenz Meier
2013-08-19 09:44:42 +02:00
parent 3465ee7f90 f96bb824d4
commit c57b345e70
37 changed files with 2239 additions and 1037 deletions
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src/modules/uORB/objects_common.cpp
+3
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@@ -120,6 +120,9 @@ ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setp
#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_global_velocity_setpoint.h"
ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
#include "topics/mission.h"
ORB_DEFINE(mission, struct mission_s);
src/modules/uORB/topics/actuator_controls.h
-1
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@@ -55,7 +55,6 @@
/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0)
/**
* @addtogroup topics
* @{
src/modules/uORB/topics/vehicle_control_mode.h
+4 -1
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@@ -64,6 +64,8 @@ struct vehicle_control_mode_s
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
bool flag_armed;
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
// XXX needs yet to be set by state machine helper
@@ -75,9 +77,10 @@ struct vehicle_control_mode_s
//bool flag_auto_enabled;
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 speed (implies direction) is controlled */
bool flag_control_velocity_enabled; /**< true if horisontal speed (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 failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
bool failsave_highlevel; /**< Set to true if high-level failsafe mode is enabled */
src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
+64
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@@ -0,0 +1,64 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: @author Anton Babushkin <anton.babushkin@me.com>
*
* 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_velocity_setpoint.h
* Definition of the global velocity setpoint uORB topic.
*/
#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct vehicle_global_velocity_setpoint_s
{
float vx; /**< in m/s NED */
float vy; /**< in m/s NED */
float vz; /**< in m/s NED */
}; /**< Velocity setpoint in NED frame */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_velocity_setpoint);
#endif
src/modules/uORB/topics/vehicle_local_position.h
+20 -20
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@@ -54,27 +54,27 @@
*/
struct vehicle_local_position_s
{
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
bool valid; /**< true if position satisfies validity criteria of estimator */
float x; /**< X positin in meters in NED earth-fixed frame */
float y; /**< X positin in meters in NED earth-fixed frame */
float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */
float absolute_alt; /**< Altitude as defined by pressure / GPS, LOGME */
float vx; /**< Ground X Speed (Latitude), m/s in NED LOGME */
float vy; /**< Ground Y Speed (Longitude), m/s in NED LOGME */
float vz; /**< Ground Z Speed (Altitude), m/s in NED LOGME */
float hdg; /**< Compass heading in radians -PI..+PI. */
// TODO Add covariances here
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
bool xy_valid; /**< true if x and y are valid */
bool z_valid; /**< true if z is valid */
bool v_xy_valid; /**< true if vy and vy are valid */
bool v_z_valid; /**< true if vz is valid */
/* Position in local NED frame */
float x; /**< X position in meters in NED earth-fixed frame */
float y; /**< X position in meters in NED earth-fixed frame */
float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
/* Velocity in NED frame */
float vx; /**< Ground X Speed (Latitude), m/s in NED */
float vy; /**< Ground Y Speed (Longitude), m/s in NED */
float vz; /**< Ground Z Speed (Altitude), m/s in NED */
/* Reference position in GPS / WGS84 frame */
uint64_t home_timestamp;/**< Time when home position was set */
int32_t home_lat; /**< Latitude in 1E7 degrees LOGME */
int32_t home_lon; /**< Longitude in 1E7 degrees LOGME */
float home_alt; /**< Altitude in meters LOGME */
float home_hdg; /**< Compass heading in radians -PI..+PI. */
bool global_xy; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool global_z; /**< true if z is valid and has valid global reference (ref_alt) */
uint64_t ref_timestamp; /**< Time when reference position was set */
int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */
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 */
};
/**
src/modules/uORB/topics/vehicle_status.h
+2 -2
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@@ -68,8 +68,7 @@ typedef enum {
/* navigation state machine */
typedef enum {
NAVIGATION_STATE_STANDBY = 0, // standby state, disarmed
NAVIGATION_STATE_DIRECT, // true manual control, no any stabilization
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
@@ -203,6 +202,7 @@ struct vehicle_status_s
bool condition_launch_position_valid; /**< indicates a valid launch position */
bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */
bool condition_local_position_valid;
bool condition_local_altitude_valid;
bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
bool condition_landed; /**< true if vehicle is landed, always true if disarmed */