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uORB combine VTOL FW and MC virtual topics (#7008)

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This commit is contained in:
Daniel Agar
2017-04-09 13:17:20 -04:00
committed by GitHub
parent 19f0b0be3a
commit c5e0bf1c2f
17 changed files with 74 additions and 263 deletions
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msg/CMakeLists.txt
+2 -6
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@@ -41,8 +41,8 @@ set(msg_file_names
att_pos_mocap.msg
battery_status.msg
camera_trigger.msg
commander_state.msg
collision_report.msg
commander_state.msg
control_state.msg
cpuload.msg
debug_key_value.msg
@@ -59,8 +59,6 @@ set(msg_file_names
filtered_bottom_flow.msg
follow_target.msg
fw_pos_ctrl_status.msg
fw_virtual_attitude_setpoint.msg
fw_virtual_rates_setpoint.msg
geofence_result.msg
gps_dump.msg
gps_inject_data.msg
@@ -72,8 +70,6 @@ set(msg_file_names
manual_control_setpoint.msg
mavlink_log.msg
mc_att_ctrl_status.msg
mc_virtual_attitude_setpoint.msg
mc_virtual_rates_setpoint.msg
mission.msg
mission_result.msg
mount_orientation.msg
@@ -112,8 +108,8 @@ set(msg_file_names
ulog_stream_ack.msg
vehicle_attitude.msg
vehicle_attitude_setpoint.msg
vehicle_command_ack.msg
vehicle_command.msg
vehicle_command_ack.msg
vehicle_control_mode.msg
vehicle_force_setpoint.msg
vehicle_global_position.msg
msg/fw_virtual_attitude_setpoint.msg
-36
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@@ -1,36 +0,0 @@
###############################################################################################
# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
#
# Please keep the following messages identical;
# vehicle_attitude_setpoint.msg
# mc_virtual_attitude_setpoint.msg
# fw_virtual_attitude_setpoint.msg
#
###############################################################################################
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
float32 yaw_body # body angle in NED frame
float32 yaw_sp_move_rate # rad/s (commanded by user)
# For quaternion-based attitude control
float32[4] q_d # Desired quaternion for quaternion control
bool q_d_valid # Set to true if quaternion vector is valid
float32 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)
bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
bool apply_flaps
float32 landing_gear
# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS fw_virtual_attitude_setpoint
msg/fw_virtual_rates_setpoint.msg
-15
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@@ -1,15 +0,0 @@
###############################################################################################
# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
#
# Please keep the following messages identical;
# vehicle_rates_setpoint.msg
# mc_virtual_rates_setpoint.msg
# fw_virtual_rates_setpoint.msg
#
###############################################################################################
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame
float32 yaw # body angular rates in NED frame
float32 thrust # thrust normalized to 0..1
msg/mc_virtual_attitude_setpoint.msg
-36
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@@ -1,36 +0,0 @@
###############################################################################################
# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
#
# Please keep the following messages identical;
# vehicle_attitude_setpoint.msg
# mc_virtual_attitude_setpoint.msg
# fw_virtual_attitude_setpoint.msg
#
###############################################################################################
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
float32 yaw_body # body angle in NED frame
float32 yaw_sp_move_rate # rad/s (commanded by user)
# For quaternion-based attitude control
float32[4] q_d # Desired quaternion for quaternion control
bool q_d_valid # Set to true if quaternion vector is valid
float32 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)
bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
bool apply_flaps
float32 landing_gear
# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS mc_virtual_attitude_setpoint
msg/mc_virtual_rates_setpoint.msg
-15
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@@ -1,15 +0,0 @@
###############################################################################################
# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
#
# Please keep the following messages identical;
# vehicle_rates_setpoint.msg
# mc_virtual_rates_setpoint.msg
# fw_virtual_rates_setpoint.msg
#
###############################################################################################
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame
float32 yaw # body angular rates in NED frame
float32 thrust # thrust normalized to 0..1
msg/position_setpoint_triplet.msg
-2
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@@ -4,5 +4,3 @@
px4/position_setpoint previous
px4/position_setpoint current
px4/position_setpoint next
uint8 nav_state # report the navigation state
msg/vehicle_attitude_setpoint.msg
+1 -12
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@@ -1,13 +1,3 @@
###############################################################################################
# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
#
# Please keep the following messages identical;
# vehicle_attitude_setpoint.msg
# mc_virtual_attitude_setpoint.msg
# fw_virtual_attitude_setpoint.msg
#
###############################################################################################
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
@@ -32,5 +22,4 @@ bool apply_flaps
float32 landing_gear
# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS vehicle_attitude_setpoint
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
msg/vehicle_rates_setpoint.msg
+2 -10
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@@ -1,15 +1,7 @@
###############################################################################################
# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
#
# Please keep the following messages identical;
# vehicle_rates_setpoint.msg
# mc_virtual_rates_setpoint.msg
# fw_virtual_rates_setpoint.msg
#
###############################################################################################
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame
float32 yaw # body angular rates in NED frame
float32 thrust # thrust normalized to 0..1
# TOPICS vehicle_rates_setpoint mc_virtual_rates_setpoint fw_virtual_rates_setpoint