msgs : add support for precision landing

msg/CMakeLists.txt

@@ -62,6 +62,9 @@ set(msg_files
 	gps_inject_data.msg
 	home_position.msg
 	input_rc.msg
+	irlock_report.msg
+	landing_target_innovations.msg
+	landing_target_pose.msg
 	led_control.msg
 	log_message.msg
 	manual_control_setpoint.msg

msg/commander_state.msg

@@ -12,7 +12,8 @@ uint8 MAIN_STATE_RATTITUDE = 9
 uint8 MAIN_STATE_AUTO_TAKEOFF = 10
 uint8 MAIN_STATE_AUTO_LAND = 11
 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
-uint8 MAIN_STATE_MAX = 13
+uint8 MAIN_STATE_AUTO_PRECLAND = 13
+uint8 MAIN_STATE_MAX = 14
 
 
 uint8 main_state		    	# main state machine

msg/ekf2_innovations.msg

@@ -15,3 +15,4 @@ float32 hagl_innov_var          # innovation variance from the terrain estimator
 float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
 float32[2] drag_innov		# drag specific force innovation (m/s/s)
 float32[2] drag_innov_var	# drag specific force innovation variance (m/s/s)**2
+float32[2] aux_vel_innov	# auxiliary NE velocity innovations from landing target measurement (m/s)

msg/irlock_report.msg

@@ -0,0 +1,9 @@
+# IRLOCK_REPORT message data
+
+uint16 signature
+
+# When looking along the optical axis of the camera, x points right, y points down, and z points along the optical axis.
+float32 pos_x # tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis
+float32 pos_y # tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis
+float32 size_x #/** size of target along camera x-axis in units of tan(theta) **/
+float32 size_y #/** size of target along camera y-axis in units of tan(theta) **/

msg/landing_target_innovations.msg

@@ -0,0 +1,7 @@
+# Innovation of landing target position estimator
+float32 innov_x
+float32 innov_y
+
+# Innovation covariance of landing target position estimator
+float32 innov_cov_x
+float32 innov_cov_y

msg/landing_target_pose.msg

@@ -0,0 +1,24 @@
+# Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
+
+bool is_static			# Flag indicating whether the landing target is static or moving with respect to the ground
+
+bool rel_pos_valid		# Flag showing whether relative position is valid
+bool rel_vel_valid		# Flag showing whether relative velocity is valid
+
+float32 x_rel			# X/north position of target, relative to vehicle (navigation frame) [meters]
+float32 y_rel			# Y/east position of target, relative to vehicle (navigation frame) [meters]
+float32 z_rel			# Z/down position of target, relative to vehicle (navigation frame) [meters]
+
+float32 vx_rel			# X/north velocity  of target, relative to vehicle (navigation frame) [meters/second]
+float32 vy_rel			# Y/east velocity of target, relative to vehicle (navigation frame) [meters/second]
+
+float32 cov_x_rel		# X/north position variance [meters^2]
+float32 cov_y_rel		# Y/east position variance [meters^2]
+
+float32 cov_vx_rel		# X/north velocity variance [(meters/second)^2]
+float32 cov_vy_rel		# Y/east velocity variance [(meters/second)^2]
+
+bool abs_pos_valid		# Flag showing whether absolute position is valid
+float32 x_abs			# X/north position of target, relative to origin (navigation frame) [meters]
+float32 y_abs			# Y/east position of target, relative to origin (navigation frame) [meters]
+float32 z_abs			# Z/down position of target, relative to origin (navigation frame) [meters]

msg/vehicle_command.msg

@@ -9,6 +9,7 @@ uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19			# Loiter around this MISSION for X sec
 uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20		# Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_NAV_LAND = 21			# Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
 uint16 VEHICLE_CMD_NAV_TAKEOFF = 22			# Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
+uint16 VEHICLE_CMD_NAV_PRECLAND = 23			# Attempt a precision landing
 uint16 VEHICLE_CMD_NAV_ROI = 80				# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
 uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81		# Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|
 uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84		# Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|

msg/vehicle_status.msg

@@ -33,7 +33,8 @@ uint8 NAVIGATION_STATE_RATTITUDE = 16		# Rattitude (aka "flip") mode
 uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17	# Takeoff
 uint8 NAVIGATION_STATE_AUTO_LAND = 18		# Land
 uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19	# Auto Follow
-uint8 NAVIGATION_STATE_MAX = 20
+uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20	# Precision land with landing target
+uint8 NAVIGATION_STATE_MAX = 21
 
 uint8 RC_IN_MODE_DEFAULT = 0
 uint8 RC_IN_MODE_OFF = 1