Julian Oes
11 years ago
10 changed files with 58 additions and 153 deletions
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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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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file vehicle_global_position_setpoint.h |
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* Definition of the global WGS84 position setpoint uORB topic. |
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*/ |
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#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ |
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#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_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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#include "mission.h" |
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/**
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* @addtogroup topics |
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* @{ |
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*/ |
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/**
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* Global position setpoint in WGS84 coordinates. |
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* |
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* This is the position the MAV is heading towards. If it of type loiter, |
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* the MAV is circling around it with the given loiter radius in meters. |
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*/ |
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struct vehicle_global_position_setpoint_s |
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{ |
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bool altitude_is_relative; /**< true if altitude is relative from start point */ |
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int32_t lat; /**< latitude in degrees * 1E7 */ |
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int32_t lon; /**< longitude in degrees * 1E7 */ |
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float altitude; /**< altitude in meters */ |
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float yaw; /**< in radians NED -PI..+PI */ |
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float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ |
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int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ |
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enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ |
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float param1; |
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float param2; |
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float param3; |
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float param4; |
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float turn_distance_xy; /**< The distance on the plane which will mark this as reached */ |
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float turn_distance_z; /**< The distance in Z direction which will mark this as reached */ |
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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(vehicle_global_position_setpoint); |
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#endif |
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