mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 23:23:34 +08:00
Merged master
This commit is contained in:
Lorenz Meier
@@ -47,6 +47,7 @@
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#include "topics/vehicle_rates_setpoint.h"
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#include "topics/actuator_outputs.h"
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#include "topics/encoders.h"
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#include "topics/tecs_status.h"
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namespace uORB {
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@@ -76,5 +77,6 @@ template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
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template class __EXPORT Publication<vehicle_rates_setpoint_s>;
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template class __EXPORT Publication<actuator_outputs_s>;
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template class __EXPORT Publication<encoders_s>;
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template class __EXPORT Publication<tecs_status_s>;
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}
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@@ -40,6 +40,7 @@
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#include "topics/parameter_update.h"
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#include "topics/actuator_controls.h"
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#include "topics/vehicle_gps_position.h"
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#include "topics/satellite_info.h"
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#include "topics/sensor_combined.h"
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#include "topics/vehicle_attitude.h"
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#include "topics/vehicle_global_position.h"
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@@ -88,6 +89,7 @@ T Subscription<T>::getData() {
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template class __EXPORT Subscription<parameter_update_s>;
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template class __EXPORT Subscription<actuator_controls_s>;
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template class __EXPORT Subscription<vehicle_gps_position_s>;
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template class __EXPORT Subscription<satellite_info_s>;
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template class __EXPORT Subscription<sensor_combined_s>;
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template class __EXPORT Subscription<vehicle_attitude_s>;
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template class __EXPORT Subscription<vehicle_global_position_s>;
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@@ -79,6 +79,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s);
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#include "topics/vehicle_gps_position.h"
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ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
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#include "topics/satellite_info.h"
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ORB_DEFINE(satellite_info, struct satellite_info_s);
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#include "topics/home_position.h"
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ORB_DEFINE(home_position, struct home_position_s);
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@@ -187,7 +190,10 @@ ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
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ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
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#include "topics/telemetry_status.h"
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ORB_DEFINE(telemetry_status, struct telemetry_status_s);
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ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
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ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
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ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
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ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
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#include "topics/debug_key_value.h"
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ORB_DEFINE(debug_key_value, struct debug_key_value_s);
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@@ -203,3 +209,12 @@ ORB_DEFINE(encoders, struct encoders_s);
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#include "topics/estimator_status.h"
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ORB_DEFINE(estimator_status, struct estimator_status_report);
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#include "topics/vehicle_force_setpoint.h"
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ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s);
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#include "topics/tecs_status.h"
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ORB_DEFINE(tecs_status, struct tecs_status_s);
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#include "topics/wind_estimate.h"
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ORB_DEFINE(wind_estimate, struct wind_estimate_s);
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@@ -58,7 +58,6 @@ struct differential_pressure_s {
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float differential_pressure_raw_pa; /**< Raw differential pressure reading (may be negative) */
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float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */
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float max_differential_pressure_pa; /**< Maximum differential pressure reading */
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float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */
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float temperature; /**< Temperature provided by sensor, -1000.0f if unknown */
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};
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@@ -64,9 +64,9 @@ struct estimator_status_report {
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uint64_t timestamp; /**< Timestamp in microseconds since boot */
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float states[32]; /**< Internal filter states */
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float n_states; /**< Number of states effectively used */
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bool states_nan; /**< If set to true, one of the states is NaN */
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bool covariance_nan; /**< If set to true, the covariance matrix went NaN */
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bool kalman_gain_nan; /**< If set to true, the Kalman gain matrix went NaN */
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uint8_t nan_flags; /**< Bitmask to indicate NaN states */
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uint8_t health_flags; /**< Bitmask to indicate sensor health states (vel, pos, hgt) */
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uint8_t timeout_flags; /**< Bitmask to indicate timeout flags (vel, pos, hgt) */
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};
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@@ -59,10 +59,13 @@ struct home_position_s
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{
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uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
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//bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then
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double lat; /**< Latitude in degrees */
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double lon; /**< Longitude in degrees */
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float alt; /**< Altitude in meters */
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float x; /**< X coordinate in meters */
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float y; /**< Y coordinate in meters */
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float z; /**< Z coordinate in meters */
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};
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/**
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@@ -98,6 +98,7 @@ struct manual_control_setpoint_s {
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switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
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switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */
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switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */
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switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
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}; /**< manual control inputs */
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/**
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@@ -1,9 +1,6 @@
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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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@@ -37,6 +34,9 @@
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/**
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* @file mission.h
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* Definition of a mission consisting of mission items.
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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_H_
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@@ -50,6 +50,7 @@
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/* compatible to mavlink MAV_CMD */
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enum NAV_CMD {
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NAV_CMD_IDLE=0,
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NAV_CMD_WAYPOINT=16,
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NAV_CMD_LOITER_UNLIMITED=17,
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NAV_CMD_LOITER_TURN_COUNT=18,
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@@ -58,7 +59,8 @@ enum NAV_CMD {
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NAV_CMD_LAND=21,
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NAV_CMD_TAKEOFF=22,
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NAV_CMD_ROI=80,
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NAV_CMD_PATHPLANNING=81
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NAV_CMD_PATHPLANNING=81,
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NAV_CMD_DO_JUMP=177
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};
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enum ORIGIN {
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@@ -91,13 +93,20 @@ struct mission_item_s {
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float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
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bool autocontinue; /**< true if next waypoint should follow after this one */
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enum ORIGIN origin; /**< where the waypoint has been generated */
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int do_jump_mission_index; /**< index where the do jump will go to */
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unsigned do_jump_repeat_count; /**< how many times do jump needs to be done */
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unsigned do_jump_current_count; /**< count how many times the jump has been done */
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};
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/**
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* This topic used to notify navigator about mission changes, mission itself and new mission state
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* must be stored in dataman before publication.
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*/
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struct mission_s
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{
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int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */
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unsigned count; /**< count of the missions stored in the datamanager */
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int current_index; /**< default -1, start at the one changed latest */
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int dataman_id; /**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
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unsigned count; /**< count of the missions stored in the dataman */
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int current_seq; /**< default -1, start at the one changed latest */
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};
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/**
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@@ -53,9 +53,10 @@
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struct mission_result_s
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{
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bool mission_reached; /**< true if mission has been reached */
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unsigned mission_index_reached; /**< index of the mission which has been reached */
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unsigned index_current_mission; /**< index of the current mission */
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unsigned seq_reached; /**< Sequence of the mission item which has been reached */
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unsigned seq_current; /**< Sequence of the current mission item */
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bool reached; /**< true if mission has been reached */
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bool finished; /**< true if mission has been completed */
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};
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/**
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@@ -69,7 +69,7 @@ struct offboard_control_setpoint_s {
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uint64_t timestamp;
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enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
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bool armed; /**< Armed flag set, yes / no */
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float p1; /**< ailerons roll / roll rate input */
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float p2; /**< elevator / pitch / pitch rate */
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float p3; /**< rudder / yaw rate / yaw */
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@@ -1,9 +1,6 @@
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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 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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@@ -37,6 +34,10 @@
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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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@@ -45,7 +46,6 @@
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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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#include <navigator/navigator_state.h>
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/**
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* @addtogroup topics
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@@ -54,21 +54,32 @@
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enum SETPOINT_TYPE
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{
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SETPOINT_TYPE_NORMAL = 0, /**< normal 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, vehicle must 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_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 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 in NED */
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float vy; /**< local velocity setpoint in m in NED */
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float vz; /**< local velocity setpoint in m 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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float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */
|
||||
float loiter_radius; /**< loiter radius (only for fixed wing), in m */
|
||||
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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@@ -84,8 +95,6 @@ struct position_setpoint_triplet_s
|
||||
struct position_setpoint_s previous;
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||||
struct position_setpoint_s current;
|
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struct position_setpoint_s next;
|
||||
|
||||
nav_state_t nav_state; /**< navigation state */
|
||||
};
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||||
|
||||
/**
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
@@ -42,60 +42,44 @@
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* The number of RC channel inputs supported.
|
||||
* Current (Q4/2013) radios support up to 18 channels,
|
||||
* leaving at a sane value of 16.
|
||||
* This number can be greater then number of RC channels,
|
||||
* because single RC channel can be mapped to multiple
|
||||
* functions, e.g. for various mode switches.
|
||||
*/
|
||||
#define RC_CHANNELS_MAPPED_MAX 16
|
||||
|
||||
/**
|
||||
* This defines the mapping of the RC functions.
|
||||
* The value assigned to the specific function corresponds to the entry of
|
||||
* the channel array chan[].
|
||||
* the channel array channels[].
|
||||
*/
|
||||
enum RC_CHANNELS_FUNCTION {
|
||||
THROTTLE = 0,
|
||||
ROLL = 1,
|
||||
PITCH = 2,
|
||||
YAW = 3,
|
||||
MODE = 4,
|
||||
RETURN = 5,
|
||||
POSCTL = 6,
|
||||
LOITER = 7,
|
||||
OFFBOARD_MODE = 8,
|
||||
ACRO = 9,
|
||||
FLAPS = 10,
|
||||
AUX_1 = 11,
|
||||
AUX_2 = 12,
|
||||
AUX_3 = 13,
|
||||
AUX_4 = 14,
|
||||
AUX_5 = 15,
|
||||
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
|
||||
ROLL,
|
||||
PITCH,
|
||||
YAW,
|
||||
MODE,
|
||||
RETURN,
|
||||
POSCTL,
|
||||
LOITER,
|
||||
OFFBOARD,
|
||||
ACRO,
|
||||
FLAPS,
|
||||
AUX_1,
|
||||
AUX_2,
|
||||
AUX_3,
|
||||
AUX_4,
|
||||
AUX_5,
|
||||
RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */
|
||||
};
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct rc_channels_s {
|
||||
|
||||
uint64_t timestamp; /**< In microseconds since boot time. */
|
||||
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
|
||||
struct {
|
||||
float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
|
||||
} chan[RC_CHANNELS_MAPPED_MAX];
|
||||
uint8_t chan_count; /**< number of valid channels */
|
||||
|
||||
/*String array to store the names of the functions*/
|
||||
char function_name[RC_CHANNELS_FUNCTION_MAX][20];
|
||||
int8_t function[RC_CHANNELS_FUNCTION_MAX];
|
||||
uint8_t rssi; /**< Overall receive signal strength */
|
||||
bool signal_lost; /**< control signal lost, should be checked together with topic timeout */
|
||||
uint64_t timestamp; /**< Timestamp in microseconds since boot time */
|
||||
uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */
|
||||
float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */
|
||||
uint8_t channel_count; /**< Number of valid channels */
|
||||
char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */
|
||||
int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */
|
||||
uint8_t rssi; /**< Receive signal strength index */
|
||||
bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */
|
||||
}; /**< radio control channels. */
|
||||
|
||||
/**
|
||||
|
||||
@@ -0,0 +1,89 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 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 satellite_info.h
|
||||
* Definition of the GNSS satellite info uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_SAT_INFO_H_
|
||||
#define TOPIC_SAT_INFO_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* GNSS Satellite Info.
|
||||
*/
|
||||
|
||||
#define SAT_INFO_MAX_SATELLITES 20
|
||||
|
||||
struct satellite_info_s {
|
||||
uint64_t timestamp; /**< Timestamp of satellite info */
|
||||
uint8_t count; /**< Number of satellites in satellite info */
|
||||
uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */
|
||||
uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */
|
||||
uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
|
||||
uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
|
||||
uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
|
||||
};
|
||||
|
||||
/**
|
||||
* NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs
|
||||
* u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf
|
||||
*
|
||||
* GPS 1-32
|
||||
* SBAS 120-158
|
||||
* Galileo 211-246
|
||||
* BeiDou 159-163, 33-64
|
||||
* QZSS 193-197
|
||||
* GLONASS 65-96, 255
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(satellite_info);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,93 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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>
|
||||
*/
|
||||
|
||||
#ifndef TECS_STATUS_T_H_
|
||||
#define TECS_STATUS_T_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
typedef enum {
|
||||
TECS_MODE_NORMAL,
|
||||
TECS_MODE_UNDERSPEED,
|
||||
TECS_MODE_TAKEOFF,
|
||||
TECS_MODE_LAND,
|
||||
TECS_MODE_LAND_THROTTLELIM
|
||||
} tecs_mode;
|
||||
|
||||
/**
|
||||
* Internal values of the (m)TECS fixed wing speed alnd altitude control system
|
||||
*/
|
||||
struct tecs_status_s {
|
||||
uint64_t timestamp; /**< timestamp, in microseconds since system start */
|
||||
|
||||
float altitudeSp;
|
||||
float altitude;
|
||||
float flightPathAngleSp;
|
||||
float flightPathAngle;
|
||||
float flightPathAngleFiltered;
|
||||
float airspeedSp;
|
||||
float airspeed;
|
||||
float airspeedFiltered;
|
||||
float airspeedDerivativeSp;
|
||||
float airspeedDerivative;
|
||||
|
||||
float totalEnergyRateSp;
|
||||
float totalEnergyRate;
|
||||
float energyDistributionRateSp;
|
||||
float energyDistributionRate;
|
||||
|
||||
tecs_mode mode;
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(tecs_status);
|
||||
|
||||
#endif
|
||||
@@ -57,6 +57,7 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
|
||||
|
||||
struct telemetry_status_s {
|
||||
uint64_t timestamp;
|
||||
uint64_t heartbeat_time; /**< Time of last received heartbeat from remote system */
|
||||
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
|
||||
uint8_t rssi; /**< local signal strength */
|
||||
uint8_t remote_rssi; /**< remote signal strength */
|
||||
@@ -71,6 +72,28 @@ struct telemetry_status_s {
|
||||
* @}
|
||||
*/
|
||||
|
||||
ORB_DECLARE(telemetry_status);
|
||||
ORB_DECLARE(telemetry_status_0);
|
||||
ORB_DECLARE(telemetry_status_1);
|
||||
ORB_DECLARE(telemetry_status_2);
|
||||
ORB_DECLARE(telemetry_status_3);
|
||||
|
||||
#define TELEMETRY_STATUS_ORB_ID_NUM 4
|
||||
|
||||
static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
|
||||
ORB_ID(telemetry_status_0),
|
||||
ORB_ID(telemetry_status_1),
|
||||
ORB_ID(telemetry_status_2),
|
||||
ORB_ID(telemetry_status_3),
|
||||
};
|
||||
|
||||
// This is a hack to quiet an unused-variable warning for when telemetry_status.h is
|
||||
// included but telemetry_status_orb_id is not referenced. The inline works if you
|
||||
// choose to use it, but you can continue to just directly index into the array as well.
|
||||
// If you don't use the inline this ends up being a no-op with no additional code emitted.
|
||||
extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index);
|
||||
extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index)
|
||||
{
|
||||
return telemetry_status_orb_id[index];
|
||||
}
|
||||
|
||||
#endif /* TOPIC_TELEMETRY_STATUS_H */
|
||||
|
||||
@@ -72,6 +72,8 @@ struct vehicle_attitude_setpoint_s {
|
||||
float 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) */
|
||||
|
||||
};
|
||||
|
||||
|
||||
@@ -74,6 +74,7 @@ struct vehicle_control_mode_s {
|
||||
|
||||
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
|
||||
bool flag_control_auto_enabled; /**< true if onboard autopilot should act */
|
||||
bool flag_control_offboard_enabled; /**< true if offboard control should be used */
|
||||
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 */
|
||||
|
||||
@@ -0,0 +1,65 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 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_force_setpoint.h
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* Definition of force (NED) setpoint uORB topic. Typically this can be used
|
||||
* by a position control app together with an attitude control app.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_FORCE_SETPOINT_H_
|
||||
#define TOPIC_VEHICLE_FORCE_SETPOINT_H_
|
||||
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct vehicle_force_setpoint_s {
|
||||
float x; /**< in N NED */
|
||||
float y; /**< in N NED */
|
||||
float z; /**< in N NED */
|
||||
float yaw; /**< right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) */
|
||||
}; /**< Desired force in NED frame */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_force_setpoint);
|
||||
|
||||
#endif
|
||||
@@ -36,7 +36,7 @@
|
||||
* Definition of the global fused WGS84 position uORB topic.
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
@@ -61,15 +61,14 @@
|
||||
* 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 */
|
||||
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
|
||||
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 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;
|
||||
float epv;
|
||||
|
||||
@@ -61,12 +61,11 @@ struct vehicle_gps_position_s {
|
||||
|
||||
uint64_t timestamp_variance;
|
||||
float s_variance_m_s; /**< speed accuracy estimate m/s */
|
||||
float p_variance_m; /**< position accuracy estimate m */
|
||||
float c_variance_rad; /**< course accuracy estimate rad */
|
||||
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. 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_m; /**< GPS HDOP horizontal dilution of position in m */
|
||||
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
|
||||
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; /**< */
|
||||
@@ -82,14 +81,7 @@ struct vehicle_gps_position_s {
|
||||
uint64_t timestamp_time; /**< Timestamp for time information */
|
||||
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
|
||||
|
||||
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
|
||||
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
|
||||
uint8_t satellite_prn[20]; /**< Global satellite ID */
|
||||
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
|
||||
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
|
||||
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
|
||||
uint8_t satellite_snr[20]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
|
||||
bool satellite_info_available; /**< 0 for no info, 1 for info available */
|
||||
uint8_t satellites_used; /**< Number of satellites used */
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@@ -1,10 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* 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
|
||||
@@ -45,6 +41,11 @@
|
||||
* All apps should write to subsystem_info:
|
||||
*
|
||||
* (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app)
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#ifndef VEHICLE_STATUS_H_
|
||||
@@ -54,19 +55,22 @@
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
#include <navigator/navigator_state.h>
|
||||
|
||||
/**
|
||||
* @addtogroup topics @{
|
||||
*/
|
||||
|
||||
/* main state machine */
|
||||
/**
|
||||
* Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
|
||||
*/
|
||||
typedef enum {
|
||||
MAIN_STATE_MANUAL = 0,
|
||||
MAIN_STATE_ALTCTL,
|
||||
MAIN_STATE_POSCTL,
|
||||
MAIN_STATE_AUTO,
|
||||
MAIN_STATE_AUTO_MISSION,
|
||||
MAIN_STATE_AUTO_LOITER,
|
||||
MAIN_STATE_AUTO_RTL,
|
||||
MAIN_STATE_ACRO,
|
||||
MAIN_STATE_OFFBOARD,
|
||||
MAIN_STATE_MAX
|
||||
} main_state_t;
|
||||
|
||||
@@ -80,7 +84,7 @@ typedef enum {
|
||||
ARMING_STATE_STANDBY_ERROR,
|
||||
ARMING_STATE_REBOOT,
|
||||
ARMING_STATE_IN_AIR_RESTORE,
|
||||
ARMING_STATE_MAX
|
||||
ARMING_STATE_MAX,
|
||||
} arming_state_t;
|
||||
|
||||
typedef enum {
|
||||
@@ -88,13 +92,24 @@ typedef enum {
|
||||
HIL_STATE_ON
|
||||
} hil_state_t;
|
||||
|
||||
/**
|
||||
* Navigation state, i.e. "what should vehicle do".
|
||||
*/
|
||||
typedef enum {
|
||||
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;
|
||||
NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */
|
||||
NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */
|
||||
NAVIGATION_STATE_POSCTL, /**< Position control mode */
|
||||
NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */
|
||||
NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */
|
||||
NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */
|
||||
NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */
|
||||
NAVIGATION_STATE_ACRO, /**< Acro mode */
|
||||
NAVIGATION_STATE_LAND, /**< Land mode */
|
||||
NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */
|
||||
NAVIGATION_STATE_TERMINATION, /**< Termination mode */
|
||||
NAVIGATION_STATE_OFFBOARD,
|
||||
NAVIGATION_STATE_MAX,
|
||||
} navigation_state_t;
|
||||
|
||||
enum VEHICLE_MODE_FLAG {
|
||||
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
|
||||
@@ -154,12 +169,11 @@ struct vehicle_status_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 */
|
||||
|
||||
main_state_t main_state; /**< main state machine */
|
||||
unsigned int set_nav_state; /**< set navigation state machine to specified value */
|
||||
uint64_t set_nav_state_timestamp; /**< timestamp of latest change of set_nav_state */
|
||||
main_state_t main_state; /**< main state machine */
|
||||
navigation_state_t nav_state; /**< set navigation state machine to specified value */
|
||||
arming_state_t arming_state; /**< current arming state */
|
||||
hil_state_t hil_state; /**< current hil state */
|
||||
failsafe_state_t failsafe_state; /**< current failsafe state */
|
||||
hil_state_t hil_state; /**< current hil state */
|
||||
bool failsafe; /**< true if system is in 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 */
|
||||
@@ -179,11 +193,15 @@ struct vehicle_status_s {
|
||||
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 */
|
||||
bool condition_power_input_valid; /**< set if input power is valid */
|
||||
float avionics_power_rail_voltage; /**< voltage of the avionics power rail */
|
||||
|
||||
bool rc_signal_found_once;
|
||||
bool rc_signal_lost; /**< true if RC reception lost */
|
||||
bool rc_input_blocked; /**< set if RC input should be ignored */
|
||||
|
||||
bool data_link_lost; /**< datalink to GCS lost */
|
||||
|
||||
bool offboard_control_signal_found_once;
|
||||
bool offboard_control_signal_lost;
|
||||
bool offboard_control_signal_weak;
|
||||
@@ -206,6 +224,8 @@ struct vehicle_status_s {
|
||||
uint16_t errors_count2;
|
||||
uint16_t errors_count3;
|
||||
uint16_t errors_count4;
|
||||
|
||||
bool circuit_breaker_engaged_power_check;
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@@ -0,0 +1,68 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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 wind_estimate.h
|
||||
*
|
||||
* Wind estimate topic topic
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_WIND_ESTIMATE_H
|
||||
#define TOPIC_WIND_ESTIMATE_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** Wind estimate */
|
||||
struct wind_estimate_s {
|
||||
|
||||
uint64_t timestamp; /**< Microseconds since system boot */
|
||||
float windspeed_north; /**< Wind component in north / X direction */
|
||||
float windspeed_east; /**< Wind component in east / Y direction */
|
||||
float covariance_north; /**< Uncertainty - set to zero (no uncertainty) if not estimated */
|
||||
float covariance_east; /**< Uncertainty - set to zero (no uncertainty) if not estimated */
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
ORB_DECLARE(wind_estimate);
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user