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Merge branch 'master'

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This commit is contained in:
TSC21
2015-05-21 12:26:55 +01:00
parent 1978f1bcac
commit db48df15c8
43 changed files with 481 additions and 749 deletions
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src/modules/uORB/Publication.cpp
+8
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@@ -69,6 +69,14 @@ void * Publication<T>::getDataVoidPtr() {
return (void *)(T *)(this);
}
PublicationNode::PublicationNode(const struct orb_metadata *meta,
List<PublicationNode *> * list) :
PublicationBase(meta) {
if (list != nullptr) list->add(this);
}
template class __EXPORT Publication<vehicle_attitude_s>;
template class __EXPORT Publication<vehicle_local_position_s>;
template class __EXPORT Publication<vehicle_global_position_s>;
src/modules/uORB/Publication.hpp
+7 -5
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@@ -94,6 +94,11 @@ protected:
// attributes
const struct orb_metadata *_meta;
orb_advert_t _handle;
private:
// forbid copy
PublicationBase(const PublicationBase&) : _meta(), _handle() {};
// forbid assignment
PublicationBase& operator = (const PublicationBase &);
};
/**
@@ -120,10 +125,7 @@ public:
* that this should be appended to.
*/
PublicationNode(const struct orb_metadata *meta,
List<PublicationNode *> * list=nullptr) :
PublicationBase(meta) {
if (list != nullptr) list->add(this);
}
List<PublicationNode *> * list=nullptr);
/**
* This function is the callback for list traversal
@@ -136,7 +138,7 @@ public:
* Publication wrapper class
*/
template<class T>
class Publication :
class __EXPORT Publication :
public T, // this must be first!
public PublicationNode
{
src/modules/uORB/Subscription.cpp
+2
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@@ -53,6 +53,8 @@
#include "topics/vehicle_attitude_setpoint.h"
#include "topics/vehicle_rates_setpoint.h"
#include "topics/rc_channels.h"
#include "topics/vehicle_control_mode.h"
#include "topics/actuator_armed.h"
namespace uORB
{
src/modules/uORB/Subscription.hpp
+5
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@@ -106,6 +106,11 @@ protected:
// attributes
const struct orb_metadata *_meta;
int _handle;
private:
// forbid copy
SubscriptionBase(const SubscriptionBase& other);
// forbid assignment
SubscriptionBase& operator = (const SubscriptionBase &);
};
/**
src/modules/uORB/topics/actuator_controls_effective.h
-79
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@@ -1,79 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* 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 actuator_controls_effective.h
*
* Actuator control topics - mixer inputs.
*
* Values published to these topics are the outputs of the vehicle control
* system and mixing process; they are the control-scale values that are
* then fed to the actual actuator driver.
*
* Each topic can be published by a single controller
*/
#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
//#include <stdint.h>
//#include "../uORB.h"
//#include "actuator_controls.h"
//
//#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
//#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
//
///**
// * @addtogroup topics
// * @{
// */
//
//struct actuator_controls_effective_s {
// uint64_t timestamp;
// float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
//};
//
///**
// * @}
// */
//
///* actuator control sets; this list can be expanded as more controllers emerge */
//ORB_DECLARE(actuator_controls_effective_0);
//ORB_DECLARE(actuator_controls_effective_1);
//ORB_DECLARE(actuator_controls_effective_2);
//ORB_DECLARE(actuator_controls_effective_3);
//
///* control sets with pre-defined applications */
//#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0)
#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
src/modules/uORB/topics/filtered_bottom_flow.h
-73
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@@ -1,73 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 filtered_bottom_flow.h
* Definition of the filtered bottom flow uORB topic.
*/
#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_
#define TOPIC_FILTERED_BOTTOM_FLOW_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Filtered bottom flow in bodyframe.
*/
struct filtered_bottom_flow_s {
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
float sumx; /**< Integrated bodyframe x flow in meters */
float sumy; /**< Integrated bodyframe y flow in meters */
float vx; /**< Flow bodyframe x speed, m/s */
float vy; /**< Flow bodyframe y Speed, m/s */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(filtered_bottom_flow);
#endif
src/modules/uORB/topics/home_position.h
-77
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@@ -1,77 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* 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 home_position.h
* Definition of the home position uORB topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef TOPIC_HOME_POSITION_H_
#define TOPIC_HOME_POSITION_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* GPS home position in WGS84 coordinates.
*/
struct home_position_s {
uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude in meters (AMSL) */
float x; /**< X coordinate in meters */
float y; /**< Y coordinate in meters */
float z; /**< Z coordinate in meters */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(home_position);
#endif
src/modules/uORB/topics/optical_flow.h
-84
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@@ -1,84 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 optical_flow.h
* Definition of the optical flow uORB topic.
*/
#ifndef TOPIC_OPTICAL_FLOW_H_
#define TOPIC_OPTICAL_FLOW_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
*/
/**
* Optical flow in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
struct optical_flow_s {
uint64_t timestamp; /**< in microseconds since system start */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
float gyro_x_rate_integral; /**< accumulated gyro value in radians around x axis */
float gyro_y_rate_integral; /**< accumulated gyro value in radians around y axis */
float gyro_z_rate_integral; /**< accumulated gyro value in radians around z axis */
float ground_distance_m; /**< Altitude / distance to ground in meters */
uint32_t integration_timespan; /**<accumulation timespan in microseconds */
uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
int16_t gyro_temperature;/**< Temperature * 100 in centi-degrees Celsius */
uint8_t quality; /**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(optical_flow);
#endif
src/modules/uORB/topics/sensor_combined.h
-172
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@@ -1,172 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* 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 sensor_combined.h
* Definition of the sensor_combined uORB topic.
*
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Lorenz Meier <lorenz@px4.io>
*/
#ifndef SENSOR_COMBINED_H_
#define SENSOR_COMBINED_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
enum MAGNETOMETER_MODE {
MAGNETOMETER_MODE_NORMAL = 0,
MAGNETOMETER_MODE_POSITIVE_BIAS,
MAGNETOMETER_MODE_NEGATIVE_BIAS
};
/**
* @addtogroup topics
* @{
*/
/**
* Sensor readings in raw and SI-unit form.
*
* These values are read from the sensors. Raw values are in sensor-specific units,
* the scaled values are in SI-units, as visible from the ending of the variable
* or the comments. The use of the SI fields is in general advised, as these fields
* are scaled and offset-compensated where possible and do not change with board
* revisions and sensor updates.
*
*/
struct sensor_combined_s {
/*
* Actual data, this is specific to the type of data which is stored in this struct
* A line containing L0GME will be added by the Python logging code generator to the
* logged dataset.
*/
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
uint64_t timestamp; /**< Timestamp in microseconds since boot, from gyro */
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
unsigned gyro_errcount; /**< Error counter for gyro 0 */
float gyro_temp; /**< Temperature of gyro 0 */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
int accelerometer_mode; /**< Accelerometer measurement mode */
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
uint64_t accelerometer_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer_errcount; /**< Error counter for accel 0 */
float accelerometer_temp; /**< Temperature of accel 0 */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
int magnetometer_mode; /**< Magnetometer measurement mode */
float magnetometer_range_ga; /**< ± measurement range in Gauss */
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer_errcount; /**< Error counter for mag 0 */
float magnetometer_temp; /**< Temperature of mag 0 */
int16_t gyro1_raw[3]; /**< Raw sensor values of angular velocity */
float gyro1_rad_s[3]; /**< Angular velocity in radian per seconds */
uint64_t gyro1_timestamp; /**< Gyro timestamp */
unsigned gyro1_errcount; /**< Error counter for gyro 1 */
float gyro1_temp; /**< Temperature of gyro 1 */
int16_t accelerometer1_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer1_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
uint64_t accelerometer1_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer1_errcount; /**< Error counter for accel 1 */
float accelerometer1_temp; /**< Temperature of accel 1 */
int16_t magnetometer1_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer1_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
uint64_t magnetometer1_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer1_errcount; /**< Error counter for mag 1 */
float magnetometer1_temp; /**< Temperature of mag 1 */
int16_t gyro2_raw[3]; /**< Raw sensor values of angular velocity */
float gyro2_rad_s[3]; /**< Angular velocity in radian per seconds */
uint64_t gyro2_timestamp; /**< Gyro timestamp */
unsigned gyro2_errcount; /**< Error counter for gyro 1 */
float gyro2_temp; /**< Temperature of gyro 1 */
int16_t accelerometer2_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer2_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
uint64_t accelerometer2_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer2_errcount; /**< Error counter for accel 2 */
float accelerometer2_temp; /**< Temperature of accel 2 */
int16_t magnetometer2_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer2_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
uint64_t magnetometer2_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer2_errcount; /**< Error counter for mag 2 */
float magnetometer2_temp; /**< Temperature of mag 2 */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
uint64_t baro_timestamp; /**< Barometer timestamp */
float baro1_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro1_alt_meter; /**< Altitude, already temp. comp. */
float baro1_temp_celcius; /**< Temperature in degrees celsius */
uint64_t baro1_timestamp; /**< Barometer timestamp */
float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
unsigned adc_mapping[10]; /**< Channel indices of each of these values */
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
float differential_pressure_pa; /**< Airspeed sensor differential pressure */
uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */
float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
float differential_pressure1_pa; /**< Airspeed sensor differential pressure */
uint64_t differential_pressure1_timestamp; /**< Last measurement timestamp */
float differential_pressure1_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(sensor_combined);
#endif
src/modules/uORB/topics/vehicle_global_position.h
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@@ -1,87 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* 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_position.h
* Definition of the global fused WGS84 position uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef VEHICLE_GLOBAL_POSITION_T_H_
#define VEHICLE_GLOBAL_POSITION_T_H_
#include <stdint.h>
#include <stdbool.h>
#include <platforms/px4_defines.h>
/**
* @addtogroup topics
* @{
*/
/**
* Fused global position in WGS84.
*
* 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_utc_usec; /**< GPS UTC 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 eph; /**< Standard deviation of position estimate horizontally */
float epv; /**< Standard deviation of position vertically */
float terrain_alt; /**< Terrain altitude in m, WGS84 */
bool terrain_alt_valid; /**< Terrain altitude estimate is valid */
bool dead_reckoning; /**< True if this position is estimated through dead-reckoning*/
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_position);
#endif
src/modules/uORB/topics/vehicle_gps_position.h
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@@ -1,94 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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_gps_position.h
* Definition of the GPS WGS84 uORB topic.
*/
#ifndef TOPIC_VEHICLE_GPS_H_
#define TOPIC_VEHICLE_GPS_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* GPS position in WGS84 coordinates.
*/
struct vehicle_gps_position_s {
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E-7 degrees */
int32_t lon; /**< Longitude in 1E-7 degrees */
int32_t alt; /**< Altitude in 1E-3 meters (millimeters) above MSL */
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float c_variance_rad; /**< course accuracy estimate rad */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
float eph; /**< GPS HDOP horizontal dilution of position in m */
float epv; /**< GPS VDOP horizontal dilution of position in m */
unsigned noise_per_ms; /**< */
unsigned jamming_indicator; /**< */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_utc_usec; /**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
uint8_t satellites_used; /**< Number of satellites used */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_gps_position);
#endif