diff --git a/msg/vtol_vehicle_status.msg b/msg/vtol_vehicle_status.msg new file mode 100644 index 0000000000..5b2dc991c9 --- /dev/null +++ b/msg/vtol_vehicle_status.msg @@ -0,0 +1,4 @@ +uint64 timestamp # Microseconds since system boot +bool vtol_in_rw_mode # true: vtol vehicle is in rotating wing mode +bool fw_permanent_stab # In fw mode stabilize attitude even if in manual mode +float32 airspeed_tot # Estimated airspeed over control surfaces diff --git a/msg/wind_estimate.msg b/msg/wind_estimate.msg new file mode 100644 index 0000000000..fbd7b638b8 --- /dev/null +++ b/msg/wind_estimate.msg @@ -0,0 +1,5 @@ +uint64 timestamp # Microseconds since system boot +float32 windspeed_north # Wind component in north / X direction +float32 windspeed_east # Wind component in east / Y direction +float32 covariance_north # Uncertainty - set to zero (no uncertainty) if not estimated +float32 covariance_east # Uncertainty - set to zero (no uncertainty) if not estimated diff --git a/src/modules/uORB/topics/vtol_vehicle_status.h b/src/modules/uORB/topics/vtol_vehicle_status.h deleted file mode 100644 index 968c2b6bdf..0000000000 --- a/src/modules/uORB/topics/vtol_vehicle_status.h +++ /dev/null @@ -1,68 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013 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 vtol_status.h - * - * Vtol status topic - * - */ - -#ifndef TOPIC_VTOL_STATUS_H -#define TOPIC_VTOL_STATUS_H - -#include -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -/* Indicates in which mode the vtol aircraft is in */ -struct vtol_vehicle_status_s { - - uint64_t timestamp; /**< Microseconds since system boot */ - bool vtol_in_rw_mode; /*true: vtol vehicle is in rotating wing mode */ - bool fw_permanent_stab; /**< In fw mode stabilize attitude even if in manual mode*/ - float airspeed_tot; /*< Estimated airspeed over control surfaces */ -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vtol_vehicle_status); - -#endif diff --git a/src/modules/uORB/topics/wind_estimate.h b/src/modules/uORB/topics/wind_estimate.h deleted file mode 100644 index 58333a64f8..0000000000 --- a/src/modules/uORB/topics/wind_estimate.h +++ /dev/null @@ -1,68 +0,0 @@ -/**************************************************************************** - * - * 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 -#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 \ No newline at end of file