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zo7_>^3gWkyZ9kY4#hguvAH-n^#l4bQYVkk!q2$l+x_5Jej-xp$=i0aNlpKQ;IzRv$ z0>`AEpO-IBA9$gFD_e+NUU2wB`yQ?KjG{IUT0kAd#1?ee1fSh1G-LK%c@1z`og zX#+{c(a5p0NaocTE@M`%T08LmH3F;~)d>h2Tu3VRsFSXzh*7XCLPC&=!0L~UvrCzD zqQG|NC&=!cST3pw1tFiLa-6X8nacKyB^y$?ybbjsHz|6O?WNBnG;|}OgjA8J_UsiI z%*dpP5D8Cm(;%j+B$_#NqTSTf<<$#d#CP5oGpt*!Pm9-Imp103D(cgF-L_IsSe3aV zM<;m1&Ioqx8C!^@mh&ea9Iu39kh89cm+=#d!iP5?7O@ixl1UIKt57FXKz&(*{HvJ1 zvyaBlQu{ql0>vk|DU&J~Qfv{60wg!xxy+1OFf;OONgQIr{6sKEhizP^P&DH^KiPyl zp{A3yL)_M;q7F9YN{zv4W|H_A@MzpbVF^P~hmWYMb^7Qx`^1axQ(v%Pc0)(u52j%3 zqlCK&GCftkuLG~#1v~%f`3yn#nRGcfdhCRj_)8o%n-tFwSp{agLA`neiYX*Qwz_j| zc4D#3E-C}4HhO1c!ZdD{;fPKS-~B@W82WqXI|4D(Xd+L9@)~r{T+mxNVOaB>urj|AdT^+HmI5t5v<=s~yh(RZespd1}7gMi1do=+5z&;<)KxOZrDLQmCsuD3v^gX9rw$Xd}- zOr^=lEcB-mdJ}uE#jMNFM3eDZ_}R&3q3$ji-Z_V8Cc9X95!P_0c~(?+PZmaF#Xl4f zMgea(<`VVhGKYyUS+!iQiOi0sY}$3tvYFKQlt%Xim=a&nVs*U=g%9UhwF(!@-at>o z$NU#-O$k2$7-cue9BDp~N0k9ZoIZZ+`5p@mCrE9~-)8dQwRrpj66u>U?dQx9PCNAs z4J$ZpUT;{otr~4KDi)LYp2O0$us4OjC@B|LMA3>0oVb*24XOKsL{@TeKZ8l1(q~CDX3FFhea}8=vF&Av_i12`8*DfJ|xp zKL03IB|RT*C?qNnr{R*!SII9nxFpaObl?!*%{r}24z^F=KrYo6eaRWQE|$aj_N-ak${^L0yXzn??PHbUBE6p zLuz4>H)i(7f0!dR$1e%VS`}jIZvfn{#Fxfwu?|{QWKVx${^pahQH`TpTnr2V*>66< z#G=CfR~_k}`p|D3=}#laSjYVB{cQs0|M&dA&iB7nq(6=MSN_vq?%(tOsVV(C&R;q2 z_crjS{l@A1wLSbD=WjQBcK;6f*KhwT - * @author Julian Oes - * @author Lorenz Meier - * - * 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 ardrone_control.c - * Definition of the ardrone_control uORB topic. - */ - -#ifndef TOPIC_ARDRONE_CONTROL_H_ -#define TOPIC_ARDRONE_CONTROL_H_ - -#include -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -struct ardrone_control_s -{ - uint16_t counter; /**< incremented by the publishing thread everytime new data is stored. */ - uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data. */ - - float setpoint_rate_cast[3]; - float setpoint_thrust_cast; /**< LOGME */ - float setpoint_attitude_rate[3]; - float setpoint_attitude[3]; /**< LOGME */ - float attitude_control_output[3]; /**< roll, pitch, yaw. */ - float position_control_output[3]; /**< x, y, z. */ - float attitude_setpoint_navigationframe_from_positioncontroller[3]; /**< LOGME */ - float gyro_scaled[3]; - float gyro_filtered[3]; - float gyro_filtered_offset[3]; - float zcompensation; - uint16_t motor_front_nw; - uint16_t motor_right_ne; - uint16_t motor_back_se; - uint16_t motor_left_sw; - -}; /**< ardrone control status */ - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(ardrone_control); - -#endif /* TOPIC_ARDRONE_CONTROL_H_ */ diff --git a/apps/uORB/topics/fixedwing_control.h b/apps/uORB/topics/fixedwing_control.h deleted file mode 100644 index 5f70cad40b..0000000000 --- a/apps/uORB/topics/fixedwing_control.h +++ /dev/null @@ -1,77 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * - * 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 fixedwing_control.h - * Definition of the fixedwing_control uORB topic. - */ - -#ifndef TOPIC_FIXEDWING_CONTROL_H_ -#define TOPIC_FIXEDWING_CONTROL_H_ - -#include -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -/** - * fixed wing control status. - */ -struct fixedwing_control_s -{ - /* use of a counter and timestamp recommended (but not necessary) */ - - uint16_t counter; //incremented by the writing thread everytime new data is stored - uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data - - float setpoint_rate_cast[3]; - float setpoint_attitude_rate[3]; - float setpoint_attitude[3]; - float attitude_control_output[4]; /**< roll, pitch, yaw, throttle */ - float position_control_output[4]; - -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(fixedwing_control); - -#endif //GLOBAL_DATA_FIXEDWING_CONTROL_T_H_