PX4-Autopilot/src/modules/uORB/topics/offboard_control_setpoint.h

/****************************************************************************
 *
 *	 Copyright (C) 2008-2012 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 offboard_control_setpoint.h
 * Definition of the manual_control_setpoint uORB topic.
 */

#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_

#include <stdint.h>
#include "../uORB.h"

/**
 * Off-board control inputs.
 *
 * Typically sent by a ground control station / joystick or by
 * some off-board controller via C or SIMULINK.
 */
enum OFFBOARD_CONTROL_MODE {
	OFFBOARD_CONTROL_MODE_DIRECT = 0,
	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
	OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3,
	OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4,
	OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5,
	OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6,
	OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7,
	OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8,
	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9,
	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10,
	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};

enum OFFBOARD_CONTROL_FRAME {
	OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0,
	OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1,
	OFFBOARD_CONTROL_FRAME_BODY_NED = 2,
	OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3,
	OFFBOARD_CONTROL_FRAME_GLOBAL = 4
};

/* mappings for the ignore bitmask */
enum {OFB_IGN_BIT_POS_X,
	OFB_IGN_BIT_POS_Y,
	OFB_IGN_BIT_POS_Z,
	OFB_IGN_BIT_VEL_X,
	OFB_IGN_BIT_VEL_Y,
	OFB_IGN_BIT_VEL_Z,
	OFB_IGN_BIT_ACC_X,
	OFB_IGN_BIT_ACC_Y,
	OFB_IGN_BIT_ACC_Z,
	OFB_IGN_BIT_BODYRATE_X,
	OFB_IGN_BIT_BODYRATE_Y,
	OFB_IGN_BIT_BODYRATE_Z,
	OFB_IGN_BIT_ATT,
	OFB_IGN_BIT_THRUST,
	OFB_IGN_BIT_YAW,
	OFB_IGN_BIT_YAWRATE,
};

/**
 * @addtogroup topics
 * @{
 */

struct offboard_control_setpoint_s {
	uint64_t timestamp;

	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */

	double position[3];	/**< lat, lon, alt / x, y, z */
	float velocity[3];	/**< x vel, y vel, z vel */
	float acceleration[3];	/**< x acc, y acc, z acc */
	float attitude[4];	/**< attitude of vehicle (quaternion) */
	float attitude_rate[3];	/**< body angular rates (x, y, z) */
	float thrust;	/**< thrust */
	float yaw;	/**< yaw: this is the yaw from the position_target message
			  (not from the full attitude_target message) */
	float yaw_rate;	/**< yaw rate: this is the yaw from the position_target message
			  (not from the full attitude_target message) */

	uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file
			   for mapping */

	bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */

	float override_mode_switch;

	float aux1_cam_pan_flaps;
	float aux2_cam_tilt;
	float aux3_cam_zoom;
	float aux4_cam_roll;

}; /**< offboard control inputs */
/**
 * @}
 */

/**
 * Returns true if the position setpoint at index should be ignored
 */
inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_POS_X +  index)));
}

/**
 * Returns true if all position setpoints should be ignored
 */
inline bool offboard_control_sp_ignore_position_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
	for (int i = 0; i < 3; i++) {
		if (!offboard_control_sp_ignore_position(offboard_control_sp, i))	{
			return false;
		}
	}
	return true;
}

/**
 * Returns true if some position setpoints should be ignored
 */
inline bool offboard_control_sp_ignore_position_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
	for (int i = 0; i < 3; i++) {
		if (offboard_control_sp_ignore_position(offboard_control_sp, i))	{
			return true;
		}
	}
	return false;
}

/**
 * Returns true if the velocity setpoint at index should be ignored
 */
inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_VEL_X + index)));
}

/**
 * Returns true if all velocity setpoints should be ignored
 */
inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
	for (int i = 0; i < 3; i++) {
		if (!offboard_control_sp_ignore_velocity(offboard_control_sp, i))	{
			return false;
		}
	}
	return true;
}

/**
 * Returns true if some velocity setpoints should be ignored
 */
inline bool offboard_control_sp_ignore_velocity_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
	for (int i = 0; i < 3; i++) {
		if (offboard_control_sp_ignore_velocity(offboard_control_sp, i))	{
			return true;
		}
	}
	return false;
}

/**
 * Returns true if the acceleration setpoint at index should be ignored
 */
inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_ACC_X + index)));
}

/**
 * Returns true if all acceleration setpoints should be ignored
 */
inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
	for (int i = 0; i < 3; i++) {
		if (!offboard_control_sp_ignore_acceleration(offboard_control_sp, i))	{
			return false;
		}
	}
	return true;
}

/**
 * Returns true if some acceleration setpoints should be ignored
 */
inline bool offboard_control_sp_ignore_acceleration_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
	for (int i = 0; i < 3; i++) {
		if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i))	{
			return true;
		}
	}
	return false;
}

/**
 * Returns true if the bodyrate setpoint at index should be ignored
 */
inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
	return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_BODYRATE_X + index)));
}

/**
 * Returns true if some of the bodyrate setpoints should be ignored
 */
inline bool offboard_control_sp_ignore_bodyrates_some(const struct offboard_control_setpoint_s &offboard_control_sp) {
	for (int i = 0; i < 3; i++) {
		if (offboard_control_sp_ignore_bodyrates(offboard_control_sp, i))	{
			return true;
		}
	}
	return false;
}

/**
 * Returns true if the attitude setpoint should be ignored
 */
inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) {
	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_ATT));
}

/**
 * Returns true if the thrust setpoint should be ignored
 */
inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setpoint_s &offboard_control_sp) {
	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST));
}

/**
 * Returns true if the yaw setpoint should be ignored
 */
inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) {
	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW));
}

/**
 * Returns true if the yaw rate setpoint should be ignored
 */
inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) {
	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE));
}


/* register this as object request broker structure */
ORB_DECLARE(offboard_control_setpoint);

#endif