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synced 2026-10-16 00:33:35 +08:00
port more uorb headers to msg
This commit is contained in:
Thomas Gubler
@@ -1,116 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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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 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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* @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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*/
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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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/**
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* @addtogroup topics
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* @{
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*/
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enum SETPOINT_TYPE
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{
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SETPOINT_TYPE_POSITION = 0, /**< position setpoint */
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SETPOINT_TYPE_VELOCITY, /**< velocity 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, 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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SETPOINT_TYPE_OFFBOARD, /**< setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard */
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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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float x; /**< local position setpoint in m in NED */
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float y; /**< local position setpoint in m in NED */
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float z; /**< local position setpoint in m in NED */
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bool position_valid; /**< true if local position setpoint valid */
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float vx; /**< local velocity setpoint in m/s in NED */
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float vy; /**< local velocity setpoint in m/s in NED */
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float vz; /**< local velocity setpoint in m/s in NED */
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bool velocity_valid; /**< true if local velocity setpoint valid */
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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 */
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float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
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bool yaw_valid; /**< true if yaw setpoint valid */
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float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */
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bool yawspeed_valid; /**< true if yawspeed setpoint valid */
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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 */
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float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
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float a_x; //**< acceleration x setpoint */
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float a_y; //**< acceleration y setpoint */
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float a_z; //**< acceleration z setpoint */
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bool acceleration_valid; //*< true if acceleration setpoint is valid/should be used */
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bool acceleration_is_force; //*< interprete acceleration as force */
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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 position_setpoint_triplet_s
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{
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struct position_setpoint_s previous;
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struct position_setpoint_s current;
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struct position_setpoint_s next;
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unsigned nav_state; /**< report the navigation state */
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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(position_setpoint_triplet);
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#endif
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@@ -1,63 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: @author Anton Babushkin <anton.babushkin@me.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 vehicle_global_velocity_setpoint.h
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* Definition of the global velocity setpoint uORB topic.
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*/
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#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
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#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_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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struct vehicle_global_velocity_setpoint_s {
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float vx; /**< in m/s NED */
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float vy; /**< in m/s NED */
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float vz; /**< in m/s NED */
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}; /**< Velocity setpoint in NED frame */
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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(vehicle_global_velocity_setpoint);
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#endif
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@@ -1,96 +0,0 @@
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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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*
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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
|
||||
* "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,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* 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 vehicle_local_position.h
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* Definition of the local fused NED position uORB topic.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
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#define TOPIC_VEHICLE_LOCAL_POSITION_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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/**
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* Fused local position in NED.
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*/
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struct vehicle_local_position_s {
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uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
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bool xy_valid; /**< true if x and y are valid */
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bool z_valid; /**< true if z is valid */
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bool v_xy_valid; /**< true if vy and vy are valid */
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bool v_z_valid; /**< true if vz is valid */
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/* Position in local NED frame */
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float x; /**< X position in meters in NED earth-fixed frame */
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float y; /**< X position in meters in NED earth-fixed frame */
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float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
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/* Velocity in NED frame */
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float vx; /**< Ground X Speed (Latitude), m/s in NED */
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float vy; /**< Ground Y Speed (Longitude), m/s in NED */
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float vz; /**< Ground Z Speed (Altitude), m/s in NED */
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/* Heading */
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float yaw;
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/* Reference position in GPS / WGS84 frame */
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bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
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bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */
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uint64_t ref_timestamp; /**< Time when reference position was set */
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double ref_lat; /**< Reference point latitude in degrees */
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double ref_lon; /**< Reference point longitude in degrees */
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float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
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/* Distance to surface */
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float dist_bottom; /**< Distance to bottom surface (ground) */
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float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */
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uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */
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bool dist_bottom_valid; /**< true if distance to bottom surface is valid */
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float eph;
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float epv;
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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(vehicle_local_position);
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#endif
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@@ -1,67 +0,0 @@
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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 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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*
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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
|
||||
* 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
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||||
* 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.
|
||||
*
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||||
* 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
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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 vehicle_local_position_setpoint.h
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* Definition of the local NED position setpoint uORB topic.
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*/
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#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
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#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_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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struct vehicle_local_position_setpoint_s {
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uint64_t timestamp; /**< timestamp of the setpoint */
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float x; /**< in meters NED */
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float y; /**< in meters NED */
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float z; /**< in meters NED */
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float yaw; /**< in radians NED -PI..+PI */
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}; /**< Local position in NED frame */
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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(vehicle_local_position_setpoint);
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#endif
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