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Merge branch 'beta' into offboard2

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This commit is contained in:
Anton Babushkin
2014-01-29 21:21:16 +01:00
parent 01c9092213 6f559b279e
commit cf6d89301b
73 changed files with 2599 additions and 1873 deletions
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src/modules/uORB/objects_common.cpp
+2 -2
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@@ -117,8 +117,8 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi
#include "topics/vehicle_bodyframe_speed_setpoint.h"
ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s);
#include "topics/mission_item_triplet.h"
ORB_DEFINE(mission_item_triplet, struct mission_item_triplet_s);
#include "topics/position_setpoint_triplet.h"
ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
#include "topics/vehicle_global_velocity_setpoint.h"
ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
src/modules/uORB/topics/home_position.h
+1 -1
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@@ -62,7 +62,7 @@ struct home_position_s
//bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float altitude; /**< Altitude in meters */
float alt; /**< Altitude in meters */
};
/**
src/modules/uORB/topics/mission_item_triplet.h → src/modules/uORB/topics/position_setpoint_triplet.h
+29 -14
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@@ -45,32 +45,47 @@
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#include "mission.h"
#include <navigator/navigator_state.h>
/**
* @addtogroup topics
* @{
*/
enum SETPOINT_TYPE
{
SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */
SETPOINT_TYPE_LOITER, /**< loiter setpoint */
SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */
SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, vehicle must descend until landing */
SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */
};
struct position_setpoint_s
{
bool valid; /**< true if setpoint is valid */
enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */
double lat; /**< latitude, in deg */
double lon; /**< longitude, in deg */
float alt; /**< altitude AMSL, in m */
float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
float loiter_radius; /**< loiter radius (only for fixed wing), in m */
int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
};
/**
* Global position setpoint triplet in WGS84 coordinates.
*
* This are the three next waypoints (or just the next two or one).
*/
struct mission_item_triplet_s
struct position_setpoint_triplet_s
{
bool previous_valid;
bool current_valid; /**< flag indicating previous mission item is valid */
bool next_valid; /**< flag indicating next mission item is valid */
struct position_setpoint_s previous;
struct position_setpoint_s current;
struct position_setpoint_s next;
struct mission_item_s previous;
struct mission_item_s current;
struct mission_item_s next;
int previous_index;
int current_index;
int next_index;
nav_state_t nav_state; /**< navigation state */
};
/**
@@ -78,6 +93,6 @@ struct mission_item_triplet_s
*/
/* register this as object request broker structure */
ORB_DECLARE(mission_item_triplet);
ORB_DECLARE(position_setpoint_triplet);
#endif
src/modules/uORB/topics/vehicle_control_mode.h
+3 -15
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@@ -61,22 +61,10 @@
* Encodes the complete system state and is set by the commander app.
*/
typedef enum {
NAV_STATE_NONE = 0,
NAV_STATE_READY,
NAV_STATE_LOITER,
NAV_STATE_MISSION,
NAV_STATE_RTL,
NAV_STATE_MAX
} nav_state_t;
struct vehicle_control_mode_s
{
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
main_state_t main_state;
nav_state_t nav_state;
bool flag_armed;
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
@@ -85,14 +73,14 @@ struct vehicle_control_mode_s
bool flag_system_hil_enabled;
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
bool flag_control_offboard_enabled; /**< true if offboard control input is on */
bool flag_control_auto_enabled; /**< true if onboard autopilot should act */
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 horizontal velocity (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 flag_control_flighttermination_enabled; /**< true if flighttermination is enabled */
bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */
bool flag_control_termination_enabled; /**< true if flighttermination is enabled */
};
/**
src/modules/uORB/topics/vehicle_global_position.h
+15 -12
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@@ -54,25 +54,28 @@
/**
* Fused global position in WGS84.
*
* This struct contains the system's believ about its position. It is not the raw GPS
* This struct contains global position estimation. It is not the raw GPS
* measurement (@see vehicle_gps_position). This topic is usually published by the position
* estimator, which will take more sources of information into account than just GPS,
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
*/
struct vehicle_global_position_s
{
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
bool valid; /**< true if position satisfies validity criteria of estimator */
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
float alt; /**< Altitude in meters */
float relative_alt; /**< Altitude above home position in meters, */
float vx; /**< Ground X velocity, m/s in NED */
float vy; /**< Ground Y velocity, m/s in NED */
float vz; /**< Ground Z velocity, m/s in NED */
float yaw; /**< Compass heading in radians -PI..+PI. */
bool global_valid; /**< true if position satisfies validity criteria of estimator */
bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */
uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude AMSL in meters */
float vel_n; /**< Ground north velocity, m/s */
float vel_e; /**< Ground east velocity, m/s */
float vel_d; /**< Ground downside velocity, m/s */
float yaw; /**< Yaw in radians -PI..+PI. */
float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */
};
/**
src/modules/uORB/topics/vehicle_status.h
+12 -6
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@@ -54,6 +54,8 @@
#include <stdbool.h>
#include "../uORB.h"
#include <navigator/navigator_state.h>
/**
* @addtogroup topics @{
*/
@@ -65,6 +67,7 @@ typedef enum {
MAIN_STATE_EASY,
MAIN_STATE_AUTO,
MAIN_STATE_OFFBOARD,
MAIN_STATE_MAX
} main_state_t;
typedef enum {
@@ -74,7 +77,8 @@ typedef enum {
ARMING_STATE_ARMED_ERROR,
ARMING_STATE_STANDBY_ERROR,
ARMING_STATE_REBOOT,
ARMING_STATE_IN_AIR_RESTORE
ARMING_STATE_IN_AIR_RESTORE,
ARMING_STATE_MAX
} arming_state_t;
typedef enum {
@@ -83,9 +87,12 @@ typedef enum {
} hil_state_t;
typedef enum {
FLIGHTTERMINATION_STATE_OFF = 0,
FLIGHTTERMINATION_STATE_ON
} flighttermination_state_t;
FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */
FAILSAFE_STATE_RTL, /**< Return To Launch */
FAILSAFE_STATE_LAND, /**< Land without position control */
FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */
FAILSAFE_STATE_MAX
} failsafe_state_t;
typedef enum {
MODE_SWITCH_MANUAL = 0,
@@ -180,6 +187,7 @@ struct vehicle_status_s
uint64_t set_nav_state_timestamp; /**< timestamp of latest change of set_nav_state */
arming_state_t arming_state; /**< current arming state */
hil_state_t hil_state; /**< current hil state */
failsafe_state_t failsafe_state; /**< current failsafe state */
int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
@@ -231,8 +239,6 @@ struct vehicle_status_s
uint16_t errors_count2;
uint16_t errors_count3;
uint16_t errors_count4;
flighttermination_state_t flighttermination_state;
};
/**