extended uORB structs with VTOL specific control topics

src/modules/uORB/objects_common.cpp

@@ -91,6 +91,9 @@ ORB_DEFINE(home_position, struct home_position_s);
 #include "topics/vehicle_status.h"
 ORB_DEFINE(vehicle_status, struct vehicle_status_s);
 
+#include "topics/vtol_vehicle_status.h"
+ORB_DEFINE(vtol_vehicle_status, struct vtol_vehicle_status_s);
+
 #include "topics/safety.h"
 ORB_DEFINE(safety, struct safety_s);
 
@@ -114,6 +117,8 @@ ORB_DEFINE(vehicle_vicon_position, struct vehicle_vicon_position_s);
 
 #include "topics/vehicle_rates_setpoint.h"
 ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
+ORB_DEFINE(mc_virtual_rates_setpoint, struct vehicle_rates_setpoint_s);
+ORB_DEFINE(fw_virtual_rates_setpoint, struct vehicle_rates_setpoint_s);
 
 #include "topics/rc_channels.h"
 ORB_DEFINE(rc_channels, struct rc_channels_s);
@@ -148,6 +153,8 @@ ORB_DEFINE(fence, unsigned);
 
 #include "topics/vehicle_attitude_setpoint.h"
 ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
+ORB_DEFINE(mc_virtual_attitude_setpoint, struct vehicle_attitude_setpoint_s);
+ORB_DEFINE(fw_virtual_attitude_setpoint, struct vehicle_attitude_setpoint_s);
 
 #include "topics/manual_control_setpoint.h"
 ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
@@ -182,6 +189,9 @@ ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
+//Virtual control groups, used for VTOL operation
+ORB_DEFINE(actuator_controls_virtual_mc, struct actuator_controls_s);
+ORB_DEFINE(actuator_controls_virtual_fw, struct actuator_controls_s);
 
 #include "topics/actuator_armed.h"
 ORB_DEFINE(actuator_armed, struct actuator_armed_s);

src/modules/uORB/topics/actuator_controls.h

@@ -74,5 +74,8 @@ ORB_DECLARE(actuator_controls_0);
 ORB_DECLARE(actuator_controls_1);
 ORB_DECLARE(actuator_controls_2);
 ORB_DECLARE(actuator_controls_3);
+ORB_DECLARE(actuator_controls_virtual_mc);
+ORB_DECLARE(actuator_controls_virtual_fw);
+
 
 #endif

src/modules/uORB/topics/vehicle_attitude.h

@@ -80,6 +80,23 @@ struct vehicle_attitude_s {
 	bool R_valid;		/**< Rotation matrix valid					*/
 	bool q_valid;		/**< Quaternion valid						*/
 
+	// secondary attitude, use for VTOL
+	float roll_sec;		/**< Roll angle (rad, Tait-Bryan, NED)				*/
+	float pitch_sec;		/**< Pitch angle (rad, Tait-Bryan, NED)				*/
+	float yaw_sec;		/**< Yaw angle (rad, Tait-Bryan, NED)				*/
+	float rollspeed_sec;	/**< Roll angular speed (rad/s, Tait-Bryan, NED)		*/
+	float pitchspeed_sec;	/**< Pitch angular speed (rad/s, Tait-Bryan, NED)		*/
+	float yawspeed_sec;		/**< Yaw angular speed (rad/s, Tait-Bryan, NED)			*/
+	float rollacc_sec;		/**< Roll angular accelration (rad/s, Tait-Bryan, NED)		*/
+	float pitchacc_sec;		/**< Pitch angular acceleration (rad/s, Tait-Bryan, NED)	*/
+	float yawacc_sec;		/**< Yaw angular acceleration (rad/s, Tait-Bryan, NED)		*/
+	float rate_offsets_sec[3];	/**< Offsets of the body angular rates from zero		*/
+	float R_sec[3][3];		/**< Rotation matrix body to world, (Tait-Bryan, NED)		*/
+	float q_sec[4];		/**< Quaternion (NED)						*/
+	float g_comp_sec[3];	/**< Compensated gravity vector					*/
+	bool R_valid_sec;		/**< Rotation matrix valid					*/
+	bool q_valid_sec;		/**< Quaternion valid						*/
+
 };
 
 /**

src/modules/uORB/topics/vehicle_attitude_setpoint.h

@@ -83,5 +83,7 @@ struct vehicle_attitude_setpoint_s {
 
 /* register this as object request broker structure */
 ORB_DECLARE(vehicle_attitude_setpoint);
+ORB_DECLARE(mc_virtual_attitude_setpoint);
+ORB_DECLARE(fw_virtual_attitude_setpoint);
 
 #endif /* TOPIC_ARDRONE_CONTROL_H_ */

src/modules/uORB/topics/vehicle_rates_setpoint.h

@@ -63,5 +63,6 @@ struct vehicle_rates_setpoint_s {
 
 /* register this as object request broker structure */
 ORB_DECLARE(vehicle_rates_setpoint);
-
+ORB_DECLARE(mc_virtual_rates_setpoint);
+ORB_DECLARE(fw_virtual_rates_setpoint);
 #endif

src/modules/uORB/topics/vehicle_status.h

@@ -147,7 +147,10 @@ enum VEHICLE_TYPE {
 	VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */
 	VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */
 	VEHICLE_TYPE_KITE = 17, /* Kite | */
-	VEHICLE_TYPE_ENUM_END = 18, /*  | */
+	VEHICLE_TYPE_ONBOARD_CONTROLLER=18, /* Onboard companion controller | */
+	VEHICLE_TYPE_VTOL_DUOROTOR = 19, /* Vtol with two engines */
+	VEHICLE_TYPE_VTOL_QUADROTOR = 20, /* Vtol with four engines*/
+	VEHICLE_TYPE_ENUM_END = 21 /*  | */
 };
 
 enum VEHICLE_BATTERY_WARNING {

src/modules/uORB/topics/vtol_vehicle_status.h

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   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 <stdint.h>
+#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 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vtol_vehicle_status);
+
+#endif