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port more uorb headers to msg

sbg
Thomas Gubler 10 years ago
parent
856b10cc1a
commit
c67cb25f9a
9 changed files with 90 additions and 342 deletions
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  1. 35
      msg/position_setpoint.msg
  2. 8
      msg/position_setpoint_triplet.msg
  3. 4
      msg/vehicle_global_velocity_setpoint.msg
  4. 36
      msg/vehicle_local_position.msg
  5. 7
      msg/vehicle_local_position_setpoint.msg
  6. 116
      src/modules/uORB/topics/position_setpoint_triplet.h
  7. 63
      src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
  8. 96
      src/modules/uORB/topics/vehicle_local_position.h
  9. 67
      src/modules/uORB/topics/vehicle_local_position_setpoint.h

35
msg/position_setpoint.msg
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# this file is only used in the position_setpoint triple as a dependency
uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
bool valid # true if setpoint is valid
uint8 type # setpoint type to adjust behavior of position controller
float32 x # local position setpoint in m in NED
float32 y # local position setpoint in m in NED
float32 z # local position setpoint in m in NED
bool position_valid # true if local position setpoint valid
float32 vx # local velocity setpoint in m/s in NED
float32 vy # local velocity setpoint in m/s in NED
float32 vz # local velocity setpoint in m/s in NED
bool velocity_valid # true if local velocity setpoint valid
float64 lat # latitude, in deg
float64 lon # longitude, in deg
float32 alt # altitude AMSL, in m
float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
bool yaw_valid # true if yaw setpoint valid
float32 yawspeed # yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid # true if yawspeed setpoint valid
float32 loiter_radius # loiter radius (only for fixed wing), in m
int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints
float32 a_x # acceleration x setpoint
float32 a_y # acceleration y setpoint
float32 a_z # acceleration z setpoint
bool acceleration_valid # true if acceleration setpoint is valid/should be used
bool acceleration_is_force # interprete acceleration as force

8
msg/position_setpoint_triplet.msg
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# Global position setpoint triplet in WGS84 coordinates.
# This are the three next waypoints (or just the next two or one).
px4/position_setpoint previous
px4/position_setpoint current
px4/position_setpoint next
uint8 nav_state # report the navigation state

4
msg/vehicle_global_velocity_setpoint.msg
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# Velocity setpoint in NED frame
float32 vx # in m/s NED
float32 vy # in m/s NED
float32 vz # in m/s NED

36
msg/vehicle_local_position.msg
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# Fused local position in NED.
uint64 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
float32 x # X position in meters in NED earth-fixed frame
float32 y # X position in meters in NED earth-fixed frame
float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
# Velocity in NED frame
float32 vx # Ground X Speed (Latitude), m/s in NED
float32 vy # Ground Y Speed (Longitude), m/s in NED
float32 vz # Ground Z Speed (Altitude), m/s in NED
# Heading
float32 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 ref_timestamp # Time when reference position was set
float64 ref_lat # Reference point latitude in degrees
float64 ref_lon # Reference point longitude in degrees
float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
# Distance to surface
float32 dist_bottom # Distance to bottom surface (ground)
float32 dist_bottom_rate # Distance to bottom surface (ground) change rate
uint64 surface_bottom_timestamp # Time when new bottom surface found
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph
float32 epv

7
msg/vehicle_local_position_setpoint.msg
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# Local position in NED frame
uint64 timestamp # timestamp of the setpoint
float32 x # in meters NED
float32 y # in meters NED
float32 z # in meters NED
float32 yaw # in radians NED -PI..+PI

116
src/modules/uORB/topics/position_setpoint_triplet.h
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/****************************************************************************
*
* 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 mission_item_triplet.h
* Definition of the global WGS84 position setpoint uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
#define TOPIC_MISSION_ITEM_TRIPLET_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
enum SETPOINT_TYPE
{
SETPOINT_TYPE_POSITION = 0, /**< position setpoint */
SETPOINT_TYPE_VELOCITY, /**< velocity setpoint */
SETPOINT_TYPE_LOITER, /**< loiter setpoint */
SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */
SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, descend until landing */
SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */
SETPOINT_TYPE_OFFBOARD, /**< setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard */
};
struct position_setpoint_s
{
bool valid; /**< true if setpoint is valid */
enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */
float x; /**< local position setpoint in m in NED */
float y; /**< local position setpoint in m in NED */
float z; /**< local position setpoint in m in NED */
bool position_valid; /**< true if local position setpoint valid */
float vx; /**< local velocity setpoint in m/s in NED */
float vy; /**< local velocity setpoint in m/s in NED */
float vz; /**< local velocity setpoint in m/s in NED */
bool velocity_valid; /**< true if local velocity setpoint valid */
double lat; /**< latitude, in deg */
double lon; /**< longitude, in deg */
float alt; /**< altitude AMSL, in m */
float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
bool yaw_valid; /**< true if yaw setpoint valid */
float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */
bool yawspeed_valid; /**< true if yawspeed setpoint valid */
float loiter_radius; /**< loiter radius (only for fixed wing), in m */
int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
float a_x; //**< acceleration x setpoint */
float a_y; //**< acceleration y setpoint */
float a_z; //**< acceleration z setpoint */
bool acceleration_valid; //*< true if acceleration setpoint is valid/should be used */
bool acceleration_is_force; //*< interprete acceleration as force */
};
/**
* Global position setpoint triplet in WGS84 coordinates.
*
* This are the three next waypoints (or just the next two or one).
*/
struct position_setpoint_triplet_s
{
struct position_setpoint_s previous;
struct position_setpoint_s current;
struct position_setpoint_s next;
unsigned nav_state; /**< report the navigation state */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(position_setpoint_triplet);
#endif

63
src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
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/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* 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.
*
****************************************************************************/
/**
* @file vehicle_global_velocity_setpoint.h
* Definition of the global velocity setpoint uORB topic.
*/
#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct vehicle_global_velocity_setpoint_s {
float vx; /**< in m/s NED */
float vy; /**< in m/s NED */
float vz; /**< in m/s NED */
}; /**< Velocity setpoint in NED frame */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_velocity_setpoint);
#endif

96
src/modules/uORB/topics/vehicle_local_position.h
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/****************************************************************************
*
* 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

67
src/modules/uORB/topics/vehicle_local_position_setpoint.h
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/****************************************************************************
*
* 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
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