Move vision position estimate to generated topics

msg/vision_position_estimate.msg

@@ -0,0 +1,14 @@
+uint32 id			# ID of the estimator, commonly the component ID of the incoming message
+
+uint64 timestamp_boot		# time of this estimate, in microseconds since system start
+uint64 timestamp_computer	# timestamp provided by the companion computer, in us
+
+float32 x			# X position in meters in NED earth-fixed frame
+float32 y			# Y position in meters in NED earth-fixed frame
+float32 z			# Z position in meters in NED earth-fixed frame (negative altitude)
+
+float32 vx			# X velocity in meters per second in NED earth-fixed frame
+float32 vy			# Y velocity in meters per second in NED earth-fixed frame
+float32 vz			# Z velocity in meters per second in NED earth-fixed frame
+
+float32[4] q			# Estimated attitude as quaternion

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -290,7 +290,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	math::Matrix<3, 3> R_decl;
 	R_decl.identity();
 
-	struct vision_position_estimate vision {};
+	struct vision_position_estimate_s vision {};
 
 	/* register the perf counter */
 	perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -325,7 +325,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	memset(&local_pos, 0, sizeof(local_pos));
 	struct optical_flow_s flow;
 	memset(&flow, 0, sizeof(flow));
-	struct vision_position_estimate vision;
+	struct vision_position_estimate_s vision;
 	memset(&vision, 0, sizeof(vision));
 	struct vehicle_global_position_s global_pos;
 	memset(&global_pos, 0, sizeof(global_pos));

src/modules/uORB/topics/vision_position_estimate.h

@@ -1,82 +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 vision_position_estimate.h
- * Vision based position estimate
- */
-
-#ifndef TOPIC_VISION_POSITION_ESTIMATE_H_
-#define TOPIC_VISION_POSITION_ESTIMATE_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Vision based position estimate in NED frame
- */
-struct vision_position_estimate {
-
-	unsigned id;				/**< ID of the estimator, commonly the component ID of the incoming message */
-
-	uint64_t timestamp_boot;		/**< time of this estimate, in microseconds since system start */
-	uint64_t timestamp_computer;		/**< timestamp provided by the companion computer, in us */
-
-	float x;				/**< X position in meters in NED earth-fixed frame */
-	float y;				/**< Y position in meters in NED earth-fixed frame */
-	float z;				/**< Z position in meters in NED earth-fixed frame (negative altitude) */
-
-	float vx;				/**< X velocity in meters per second in NED earth-fixed frame */
-	float vy;				/**< Y velocity in meters per second in NED earth-fixed frame */
-	float vz;				/**< Z velocity in meters per second in NED earth-fixed frame */
-
-	float q[4];				/**< Estimated attitude as quaternion */
-
-	// XXX Add covariances here
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vision_position_estimate);
-
-#endif /* TOPIC_VISION_POSITION_ESTIMATE_H_ */