mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 20:28:37 +08:00
port more uorb headers to msg
This commit is contained in:
Thomas Gubler
@@ -0,0 +1,35 @@
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# this file is only used in the position_setpoint triple as a dependency
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uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
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uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
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uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
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uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
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uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
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uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
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uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
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bool valid # true if setpoint is valid
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uint8 type # setpoint type to adjust behavior of position controller
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float32 x # local position setpoint in m in NED
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float32 y # local position setpoint in m in NED
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float32 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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float32 vx # local velocity setpoint in m/s in NED
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float32 vy # local velocity setpoint in m/s in NED
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float32 vz # local velocity setpoint in m/s in NED
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bool velocity_valid # true if local velocity setpoint valid
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float64 lat # latitude, in deg
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float64 lon # longitude, in deg
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float32 alt # altitude AMSL, in m
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float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
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bool yaw_valid # true if yaw setpoint valid
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float32 yawspeed # yawspeed (only for multirotors, in rad/s)
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bool yawspeed_valid # true if yawspeed setpoint valid
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float32 loiter_radius # loiter radius (only for fixed wing), in m
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int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
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float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints
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float32 a_x # acceleration x setpoint
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float32 a_y # acceleration y setpoint
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float32 a_z # acceleration z setpoint
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bool acceleration_valid # true if acceleration setpoint is valid/should be used
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bool acceleration_is_force # interprete acceleration as force
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@@ -0,0 +1,8 @@
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# Global position setpoint triplet in WGS84 coordinates.
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# This are the three next waypoints (or just the next two or one).
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px4/position_setpoint previous
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px4/position_setpoint current
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px4/position_setpoint next
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uint8 nav_state # report the navigation state
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@@ -0,0 +1,4 @@
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# Velocity setpoint in NED frame
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float32 vx # in m/s NED
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float32 vy # in m/s NED
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float32 vz # in m/s NED
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@@ -0,0 +1,36 @@
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# Fused local position in NED.
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uint64 timestamp # Time of this estimate, in microseconds since system start
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bool xy_valid # true if x and y are valid
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bool z_valid # true if z is valid
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bool v_xy_valid # true if vy and vy are valid
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bool v_z_valid # true if vz is valid
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# Position in local NED frame
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float32 x # X position in meters in NED earth-fixed frame
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float32 y # X position in meters in NED earth-fixed frame
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float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
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# Velocity in NED frame
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float32 vx # Ground X Speed (Latitude), m/s in NED
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float32 vy # Ground Y Speed (Longitude), m/s in NED
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float32 vz # Ground Z Speed (Altitude), m/s in NED
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# Heading
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float32 yaw
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# Reference position in GPS / WGS84 frame
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bool xy_global # true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
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bool z_global # true if z is valid and has valid global reference (ref_alt)
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uint64 ref_timestamp # Time when reference position was set
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float64 ref_lat # Reference point latitude in degrees
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float64 ref_lon # Reference point longitude in degrees
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float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
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# Distance to surface
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float32 dist_bottom # Distance to bottom surface (ground)
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float32 dist_bottom_rate # Distance to bottom surface (ground) change rate
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uint64 surface_bottom_timestamp # Time when new bottom surface found
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bool dist_bottom_valid # true if distance to bottom surface is valid
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float32 eph
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float32 epv
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@@ -0,0 +1,7 @@
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# Local position in NED frame
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uint64 timestamp # timestamp of the setpoint
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float32 x # in meters NED
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float32 y # in meters NED
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float32 z # in meters NED
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float32 yaw # in radians NED -PI..+PI
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@@ -1,116 +0,0 @@
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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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*
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||||
* 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.
|
||||
*
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||||
****************************************************************************/
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||||
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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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#define TOPIC_MISSION_ITEM_TRIPLET_H_
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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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/**
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* @addtogroup topics
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* @{
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*/
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enum SETPOINT_TYPE
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{
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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 in NED frame (x, y, z, vx, vy, vz) 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 */
|
||||
bool position_valid; /**< true if local position setpoint valid */
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||||
float vx; /**< local velocity setpoint in m/s in NED */
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float vy; /**< local velocity setpoint in m/s in NED */
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||||
float vz; /**< local velocity setpoint in m/s 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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bool yaw_valid; /**< true if yaw setpoint valid */
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float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */
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bool yawspeed_valid; /**< true if yawspeed setpoint valid */
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float loiter_radius; /**< loiter radius (only for fixed wing), in m */
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||||
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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float a_x; //**< acceleration x setpoint */
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||||
float a_y; //**< acceleration y setpoint */
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float a_z; //**< acceleration z setpoint */
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bool acceleration_valid; //*< true if acceleration setpoint is valid/should be used */
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bool acceleration_is_force; //*< interprete acceleration as force */
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};
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||||
/**
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* Global position setpoint triplet in WGS84 coordinates.
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*
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* This are the three next waypoints (or just the next two or one).
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||||
*/
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struct position_setpoint_triplet_s
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{
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struct position_setpoint_s previous;
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struct position_setpoint_s current;
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struct position_setpoint_s next;
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unsigned nav_state; /**< report the navigation state */
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(position_setpoint_triplet);
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#endif
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@@ -1,63 +0,0 @@
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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 Anton Babushkin <anton.babushkin@me.com>
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
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||||
* @file vehicle_global_velocity_setpoint.h
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||||
* Definition of the global velocity setpoint uORB topic.
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||||
*/
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||||
|
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#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
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#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
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#include "../uORB.h"
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||||
|
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/**
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* @addtogroup topics
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* @{
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*/
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struct vehicle_global_velocity_setpoint_s {
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float vx; /**< in m/s NED */
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float vy; /**< in m/s NED */
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float vz; /**< in m/s NED */
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||||
}; /**< Velocity setpoint in NED frame */
|
||||
|
||||
/**
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||||
* @}
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||||
*/
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||||
|
||||
/* register this as object request broker structure */
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||||
ORB_DECLARE(vehicle_global_velocity_setpoint);
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||||
|
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#endif
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||||
@@ -1,96 +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 vehicle_local_position.h
|
||||
* Definition of the local fused NED position uORB topic.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
|
||||
#define TOPIC_VEHICLE_LOCAL_POSITION_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Fused local position in NED.
|
||||
*/
|
||||
struct vehicle_local_position_s {
|
||||
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
|
||||
bool xy_valid; /**< true if x and y are valid */
|
||||
bool z_valid; /**< true if z is valid */
|
||||
bool v_xy_valid; /**< true if vy and vy are valid */
|
||||
bool v_z_valid; /**< true if vz is valid */
|
||||
/* Position in local NED frame */
|
||||
float x; /**< X position in meters in NED earth-fixed frame */
|
||||
float y; /**< X position in meters in NED earth-fixed frame */
|
||||
float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
|
||||
/* Velocity in NED frame */
|
||||
float vx; /**< Ground X Speed (Latitude), m/s in NED */
|
||||
float vy; /**< Ground Y Speed (Longitude), m/s in NED */
|
||||
float vz; /**< Ground Z Speed (Altitude), m/s in NED */
|
||||
/* Heading */
|
||||
float yaw;
|
||||
/* Reference position in GPS / WGS84 frame */
|
||||
bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
|
||||
bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */
|
||||
uint64_t ref_timestamp; /**< Time when reference position was set */
|
||||
double ref_lat; /**< Reference point latitude in degrees */
|
||||
double ref_lon; /**< Reference point longitude in degrees */
|
||||
float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
|
||||
/* Distance to surface */
|
||||
float dist_bottom; /**< Distance to bottom surface (ground) */
|
||||
float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */
|
||||
uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */
|
||||
bool dist_bottom_valid; /**< true if distance to bottom surface is valid */
|
||||
float eph;
|
||||
float epv;
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_local_position);
|
||||
|
||||
#endif
|
||||
@@ -1,67 +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_local_position_setpoint.h
|
||||
* Definition of the local NED position setpoint uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
|
||||
#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
|
||||
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
struct vehicle_local_position_setpoint_s {
|
||||
uint64_t timestamp; /**< timestamp of the setpoint */
|
||||
float x; /**< in meters NED */
|
||||
float y; /**< in meters NED */
|
||||
float z; /**< in meters NED */
|
||||
float yaw; /**< in radians NED -PI..+PI */
|
||||
}; /**< Local position in NED frame */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_local_position_setpoint);
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user