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Move more messages to auto-generation, work on C++ code style

sbg
James Goppert 10 years ago committed by Lorenz Meier
parent
e7a522edbc
commit
e1d2c0c5ad
27 changed files with 293 additions and 682 deletions
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  1. 8
      msg/filtered_bottom_flow.msg
  2. 10
      msg/home_position.msg
  3. 17
      msg/optical_flow.msg
  4. 13
      msg/range_finder.msg
  5. 100
      msg/sensor_combined.msg
  6. 20
      msg/vehicle_global_position.msg
  7. 29
      msg/vehicle_gps_position.msg
  8. 37
      src/drivers/drv_range_finder.h
  9. 41
      src/drivers/sf0x/sf0x.cpp
  10. 14
      src/include/containers/List.hpp
  11. 5
      src/modules/controllib/block/Block.cpp
  12. 12
      src/modules/controllib/block/Block.hpp
  13. 2
      src/modules/controllib/block/BlockParam.cpp
  14. 2
      src/modules/controllib/block/BlockParam.hpp
  15. 1
      src/modules/controllib/uorb/blocks.cpp
  16. 4
      src/modules/controllib/uorb/blocks.hpp
  17. 46
      src/modules/sensors/sensors.cpp
  18. 8
      src/modules/uORB/Publication.cpp
  19. 12
      src/modules/uORB/Publication.hpp
  20. 2
      src/modules/uORB/Subscription.cpp
  21. 5
      src/modules/uORB/Subscription.hpp
  22. 73
      src/modules/uORB/topics/filtered_bottom_flow.h
  23. 77
      src/modules/uORB/topics/home_position.h
  24. 84
      src/modules/uORB/topics/optical_flow.h
  25. 172
      src/modules/uORB/topics/sensor_combined.h
  26. 87
      src/modules/uORB/topics/vehicle_global_position.h
  27. 94
      src/modules/uORB/topics/vehicle_gps_position.h

8
msg/filtered_bottom_flow.msg
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@ -0,0 +1,8 @@ @@ -0,0 +1,8 @@
# Filtered bottom flow in bodyframe.
uint64 timestamp # time of this estimate, in microseconds since system start
float32 sumx # Integrated bodyframe x flow in meters
float32 sumy # Integrated bodyframe y flow in meters
float32 vx # Flow bodyframe x speed, m/s
float32 vy # Flow bodyframe y Speed, m/s

10
msg/home_position.msg
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@ -0,0 +1,10 @@ @@ -0,0 +1,10 @@
# GPS home position in WGS84 coordinates.
uint64 timestamp # Timestamp (microseconds since system boot)
float64 lat # Latitude in degrees
float64 lon # Longitude in degrees
float32 alt # Altitude in meters (AMSL)
float32 x # X coordinate in meters
float32 y # Y coordinate in meters
float32 z # Z coordinate in meters

17
msg/optical_flow.msg
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@ -0,0 +1,17 @@ @@ -0,0 +1,17 @@
# Optical flow in NED body frame in SI units.
# @see http://en.wikipedia.org/wiki/International_System_of_Units
uint64 timestamp # in microseconds since system start
uint8 sensor_id # id of the sensor emitting the flow value
float32 pixel_flow_x_integral # accumulated optical flow in radians around x axis
float32 pixel_flow_y_integral # accumulated optical flow in radians around y axis
float32 gyro_x_rate_integral # accumulated gyro value in radians around x axis
float32 gyro_y_rate_integral # accumulated gyro value in radians around y axis
float32 gyro_z_rate_integral # accumulated gyro value in radians around z axis
float32 ground_distance_m # Altitude / distance to ground in meters
uint32 integration_timespan # accumulation timespan in microseconds
uint32 time_since_last_sonar_update # time since last sonar update in microseconds
uint16 frame_count_since_last_readout # number of accumulated frames in timespan
int16 gyro_temperature # Temperature * 100 in centi-degrees Celsius
uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality

13
msg/range_finder.msg
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@ -0,0 +1,13 @@ @@ -0,0 +1,13 @@
int16 RANGE_FINDER_TYPE_LASER = 0
# range finder report structure. Reads from the device must be in multiples of this
# structure.
uint64 timestamp
uint64 error_count
uint16 type # type, following RANGE_FINDER_TYPE enum
float32 distance # in meters
float32 minimum_distance # minimum distance the sensor can measure
float32 maximum_distance # maximum distance the sensor can measure
uint8 valid # 1 == within sensor range, 0 = outside sensor range
float32[12] distance_vector # in meters length should match MB12XX_MAX_RANGEFINDERS
uint8 just_updated # number of the most recent measurement sensor

100
msg/sensor_combined.msg
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@ -0,0 +1,100 @@ @@ -0,0 +1,100 @@
# Definition of the sensor_combined uORB topic.
int32 MAGNETOMETER_MODE_NORMAL = 0
int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
# Sensor readings in raw and SI-unit form.
#
# These values are read from the sensors. Raw values are in sensor-specific units,
# the scaled values are in SI-units, as visible from the ending of the variable
# or the comments. The use of the SI fields is in general advised, as these fields
# are scaled and offset-compensated where possible and do not change with board
# revisions and sensor updates.
#
# Actual data, this is specific to the type of data which is stored in this struct
# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
#
# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
uint64 timestamp # Timestamp in microseconds since boot, from gyro
#
int16[3] gyro_raw # Raw sensor values of angular velocity
float32[3] gyro_rad_s # Angular velocity in radian per seconds
uint32 gyro_errcount # Error counter for gyro 0
float32 gyro_temp # Temperature of gyro 0
int16[3] accelerometer_raw # Raw acceleration in NED body frame
float32[3] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2
int16 accelerometer_mode # Accelerometer measurement mode
float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2
uint64 accelerometer_timestamp # Accelerometer timestamp
uint32 accelerometer_errcount # Error counter for accel 0
float32 accelerometer_temp # Temperature of accel 0
int16[3] magnetometer_raw # Raw magnetic field in NED body frame
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
int16 magnetometer_mode # Magnetometer measurement mode
float32 magnetometer_range_ga # measurement range in Gauss
float32 magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor
uint64 magnetometer_timestamp # Magnetometer timestamp
uint32 magnetometer_errcount # Error counter for mag 0
float32 magnetometer_temp # Temperature of mag 0
int16[3] gyro1_raw # Raw sensor values of angular velocity
float32[3] gyro1_rad_s # Angular velocity in radian per seconds
uint64 gyro1_timestamp # Gyro timestamp
uint32 gyro1_errcount # Error counter for gyro 1
float32 gyro1_temp # Temperature of gyro 1
int16[3] accelerometer1_raw # Raw acceleration in NED body frame
float32[3] accelerometer1_m_s2 # Acceleration in NED body frame, in m/s^2
uint64 accelerometer1_timestamp # Accelerometer timestamp
uint32 accelerometer1_errcount # Error counter for accel 1
float32 accelerometer1_temp # Temperature of accel 1
int16[3] magnetometer1_raw # Raw magnetic field in NED body frame
float32[3] magnetometer1_ga # Magnetic field in NED body frame, in Gauss
uint64 magnetometer1_timestamp # Magnetometer timestamp
uint32 magnetometer1_errcount # Error counter for mag 1
float32 magnetometer1_temp # Temperature of mag 1
int16[3] gyro2_raw # Raw sensor values of angular velocity
float32[3] gyro2_rad_s # Angular velocity in radian per seconds
uint64 gyro2_timestamp # Gyro timestamp
uint32 gyro2_errcount # Error counter for gyro 1
float32 gyro2_temp # Temperature of gyro 1
int16[3] accelerometer2_raw # Raw acceleration in NED body frame
float32[3] accelerometer2_m_s2 # Acceleration in NED body frame, in m/s^2
uint64 accelerometer2_timestamp # Accelerometer timestamp
uint32 accelerometer2_errcount # Error counter for accel 2
float32 accelerometer2_temp # Temperature of accel 2
int16[3] magnetometer2_raw # Raw magnetic field in NED body frame
float32[3] magnetometer2_ga # Magnetic field in NED body frame, in Gauss
uint64 magnetometer2_timestamp # Magnetometer timestamp
uint32 magnetometer2_errcount # Error counter for mag 2
float32 magnetometer2_temp # Temperature of mag 2
float32 baro_pres_mbar # Barometric pressure, already temp. comp.
float32 baro_alt_meter # Altitude, already temp. comp.
float32 baro_temp_celcius # Temperature in degrees celsius
uint64 baro_timestamp # Barometer timestamp
float32 baro1_pres_mbar # Barometric pressure, already temp. comp.
float32 baro1_alt_meter # Altitude, already temp. comp.
float32 baro1_temp_celcius # Temperature in degrees celsius
uint64 baro1_timestamp # Barometer timestamp
float32[10] adc_voltage_v # ADC voltages of ADC Chan 10/11/12/13 or -1
uint16[10] adc_mapping # Channel indices of each of these values
float32 mcu_temp_celcius # Internal temperature measurement of MCU
float32 differential_pressure_pa # Airspeed sensor differential pressure
uint64 differential_pressure_timestamp # Last measurement timestamp
float32 differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
float32 differential_pressure1_pa # Airspeed sensor differential pressure
uint64 differential_pressure1_timestamp # Last measurement timestamp
float32 differential_pressure1_filtered_pa # Low pass filtered airspeed sensor differential pressure reading

20
msg/vehicle_global_position.msg
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@ -0,0 +1,20 @@ @@ -0,0 +1,20 @@
# Fused global position in WGS84.
# This struct contains global position estimation. It is not the raw GPS
# measurement (@see vehicle_gps_position). This topic is usually published by the position
# estimator, which will take more sources of information into account than just GPS,
# e.g. control inputs of the vehicle in a Kalman-filter implementation.
#
uint64 timestamp # Time of this estimate, in microseconds since system start
uint64 time_utc_usec # GPS UTC timestamp in microseconds
float64 lat # Latitude in degrees
float64 lon # Longitude in degrees
float32 alt # Altitude AMSL in meters
float32 vel_n # Ground north velocity, m/s
float32 vel_e # Ground east velocity, m/s
float32 vel_d # Ground downside velocity, m/s
float32 yaw # Yaw in radians -PI..+PI.
float32 eph # Standard deviation of position estimate horizontally
float32 epv # Standard deviation of position vertically
float32 terrain_alt # Terrain altitude in m, WGS84
bool terrain_alt_valid # Terrain altitude estimate is valid
bool dead_reckoning # True if this position is estimated through dead-reckoning

29
msg/vehicle_gps_position.msg
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@ -0,0 +1,29 @@ @@ -0,0 +1,29 @@
# GPS position in WGS84 coordinates.
uint64 timestamp_position # Timestamp for position information
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
int32 alt # Altitude in 1E-3 meters (millimeters) above MSL
uint64 timestamp_variance
float32 s_variance_m_s # speed accuracy estimate m/s
float32 c_variance_rad # course accuracy estimate rad
uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
float32 eph # GPS HDOP horizontal dilution of position in m
float32 epv # GPS VDOP horizontal dilution of position in m
int32 noise_per_ms # GPS noise per millisecond
int32 jamming_indicator # indicates jamming is occurring
uint64 timestamp_velocity # Timestamp for velocity informations
float32 vel_m_s # GPS ground speed (m/s)
float32 vel_n_m_s # GPS ground speed in m/s
float32 vel_e_m_s # GPS ground speed in m/s
float32 vel_d_m_s # GPS ground speed in m/s
float32 cog_rad # Course over ground (NOT heading, but direction of movement) in rad, -PI..PI
bool vel_ned_valid # Flag to indicate if NED speed is valid
uint64 timestamp_time # Timestamp for time information
uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
uint8 satellites_used # Number of satellites used

37
src/drivers/drv_range_finder.h
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@ -48,39 +48,14 @@ @@ -48,39 +48,14 @@
#define RANGE_FINDER0_DEVICE_PATH "/dev/range_finder0"
#define MB12XX_MAX_RANGEFINDERS 12 //Maximum number of RangeFinders that can be connected
enum RANGE_FINDER_TYPE {
RANGE_FINDER_TYPE_LASER = 0,
};
#define range_finder_report range_finder_s
#define __orb_sensor_range_finder __orb_range_finder
/**
* @addtogroup topics
* @{
*/
/**
* range finder report structure. Reads from the device must be in multiples of this
* structure.
*/
struct range_finder_report {
uint64_t timestamp;
uint64_t error_count;
unsigned type; /**< type, following RANGE_FINDER_TYPE enum */
float distance; /**< in meters */
float minimum_distance; /**< minimum distance the sensor can measure */
float maximum_distance; /**< maximum distance the sensor can measure */
uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */
float distance_vector[MB12XX_MAX_RANGEFINDERS]; /** in meters */
uint8_t just_updated; /** number of the most recent measurement sensor */
};
#include <uORB/topics/range_finder.h>
/**
* @}
*/
/*
* ObjDev tag for raw range finder data.
*/
ORB_DECLARE(sensor_range_finder);
#ifndef RANGE_FINDER_TYPE_LASER
#define RANGE_FINDER_TYPE_LASER 0
#endif
/*
* ioctl() definitions

41
src/drivers/sf0x/sf0x.cpp
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@ -260,32 +260,37 @@ SF0X::~SF0X() @@ -260,32 +260,37 @@ SF0X::~SF0X()
int
SF0X::init()
{
/* do regular cdev init */
if (CDev::init() != OK) {
goto out;
}
/* status */
int ret = 0;
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
do { /* create a scope to handle exit conditions using break */
if (_reports == nullptr) {
warnx("mem err");
goto out;
}
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) break;
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr) {
warnx("mem err");
ret = -1;
break;
}
if (_range_finder_topic < 0) {
warnx("advert err");
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
if (_range_finder_topic < 0) {
warnx("advert err");
}
} while(0);
/* close the fd */
::close(_fd);
_fd = -1;
out:
return OK;
}

14
src/include/containers/List.hpp
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@ -45,6 +45,7 @@ class __EXPORT ListNode @@ -45,6 +45,7 @@ class __EXPORT ListNode
public:
ListNode() : _sibling(nullptr) {
}
virtual ~ListNode() {};
void setSibling(T sibling) { _sibling = sibling; }
T getSibling() { return _sibling; }
T get() {
@ -52,6 +53,11 @@ public: @@ -52,6 +53,11 @@ public:
}
protected:
T _sibling;
private:
// forbid copy
ListNode(const ListNode& other);
// forbid assignment
ListNode & operator = (const ListNode &);
};
template<class T>
@ -60,12 +66,18 @@ class __EXPORT List @@ -60,12 +66,18 @@ class __EXPORT List
public:
List() : _head() {
}
virtual ~List() {};
void add(T newNode) {
newNode->setSibling(getHead());
setHead(newNode);
}
T getHead() { return _head; }
private:
protected:
void setHead(T &head) { _head = head; }
T _head;
private:
// forbid copy
List(const List& other);
// forbid assignment
List& operator = (const List &);
};

5
src/modules/controllib/block/Block.cpp
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@ -208,4 +208,9 @@ void SuperBlock::updateChildPublications() @@ -208,4 +208,9 @@ void SuperBlock::updateChildPublications()
}
}
} // namespace control
template class List<uORB::SubscriptionNode *>;
template class List<uORB::PublicationNode *>;
template class List<control::BlockParamBase *>;

12
src/modules/controllib/block/Block.hpp
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@ -43,12 +43,9 @@ @@ -43,12 +43,9 @@
#include <inttypes.h>
#include <containers/List.hpp>
// forward declaration
namespace uORB {
class SubscriptionNode;
class PublicationNode;
}
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <controllib/block/BlockParam.hpp>
namespace control
{
@ -60,8 +57,8 @@ static const uint16_t maxPublicationsPerBlock = 100; @@ -60,8 +57,8 @@ static const uint16_t maxPublicationsPerBlock = 100;
static const uint8_t blockNameLengthMax = 80;
// forward declaration
class BlockParamBase;
class SuperBlock;
class BlockParamBase;
/**
*/
@ -137,4 +134,5 @@ protected: @@ -137,4 +134,5 @@ protected:
List<Block *> _children;
};
} // namespace control

2
src/modules/controllib/block/BlockParam.cpp
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@ -43,6 +43,8 @@ @@ -43,6 +43,8 @@
#include "BlockParam.hpp"
#include <containers/List.hpp>
namespace control
{

2
src/modules/controllib/block/BlockParam.hpp
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@ -47,6 +47,8 @@ @@ -47,6 +47,8 @@
namespace control
{
class Block;
/**
* A base class for block params that enables traversing linked list.
*/

1
src/modules/controllib/uorb/blocks.cpp
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@ -38,6 +38,7 @@ @@ -38,6 +38,7 @@
*/
#include "blocks.hpp"
#include <geo/geo.h>
namespace control
{

4
src/modules/controllib/uorb/blocks.hpp
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@ -61,10 +61,6 @@ @@ -61,10 +61,6 @@
#include <drivers/drv_hrt.h>
#include <poll.h>
extern "C" {
#include <geo/geo.h>
}
#include "../blocks.hpp"
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>

46
src/modules/sensors/sensors.cpp
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@ -2066,35 +2066,25 @@ Sensors::task_main() @@ -2066,35 +2066,25 @@ Sensors::task_main()
{
/* start individual sensors */
int ret;
ret = accel_init();
int ret = 0;
do { /* create a scope to handle exit with break */
ret = accel_init();
if (ret) break;
ret = gyro_init();
if (ret) break;
ret = mag_init();
if (ret) break;
ret = baro_init();
if (ret) break;
ret = adc_init();
if (ret) break;
break;
} while (0);
if (ret) {
goto exit_immediate;
}
ret = gyro_init();
if (ret) {
goto exit_immediate;
}
ret = mag_init();
if (ret) {
goto exit_immediate;
}
ret = baro_init();
if (ret) {
goto exit_immediate;
}
ret = adc_init();
if (ret) {
goto exit_immediate;
_sensors_task = -1;
_exit(ret);
return;
}
/*
@ -2237,8 +2227,6 @@ Sensors::task_main() @@ -2237,8 +2227,6 @@ Sensors::task_main()
}
warnx("exiting.");
exit_immediate:
_sensors_task = -1;
_exit(ret);
}

8
src/modules/uORB/Publication.cpp
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@ -69,6 +69,14 @@ void * Publication<T>::getDataVoidPtr() { @@ -69,6 +69,14 @@ void * Publication<T>::getDataVoidPtr() {
return (void *)(T *)(this);
}
PublicationNode::PublicationNode(const struct orb_metadata *meta,
List<PublicationNode *> * list) :
PublicationBase(meta) {
if (list != nullptr) list->add(this);
}
template class __EXPORT Publication<vehicle_attitude_s>;
template class __EXPORT Publication<vehicle_local_position_s>;
template class __EXPORT Publication<vehicle_global_position_s>;

12
src/modules/uORB/Publication.hpp
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@ -94,6 +94,11 @@ protected: @@ -94,6 +94,11 @@ protected:
// attributes
const struct orb_metadata *_meta;
orb_advert_t _handle;
private:
// forbid copy
PublicationBase(const PublicationBase&) : _meta(), _handle() {};
// forbid assignment
PublicationBase& operator = (const PublicationBase &);
};
/**
@ -120,10 +125,7 @@ public: @@ -120,10 +125,7 @@ public:
* that this should be appended to.
*/
PublicationNode(const struct orb_metadata *meta,
List<PublicationNode *> * list=nullptr) :
PublicationBase(meta) {
if (list != nullptr) list->add(this);
}
List<PublicationNode *> * list=nullptr);
/**
* This function is the callback for list traversal
@ -136,7 +138,7 @@ public: @@ -136,7 +138,7 @@ public:
* Publication wrapper class
*/
template<class T>
class Publication :
class __EXPORT Publication :
public T, // this must be first!
public PublicationNode
{

2
src/modules/uORB/Subscription.cpp
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@ -53,6 +53,8 @@ @@ -53,6 +53,8 @@
#include "topics/vehicle_attitude_setpoint.h"
#include "topics/vehicle_rates_setpoint.h"
#include "topics/rc_channels.h"
#include "topics/vehicle_control_mode.h"
#include "topics/actuator_armed.h"
namespace uORB
{

5
src/modules/uORB/Subscription.hpp
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@ -106,6 +106,11 @@ protected: @@ -106,6 +106,11 @@ protected:
// attributes
const struct orb_metadata *_meta;
int _handle;
private:
// forbid copy
SubscriptionBase(const SubscriptionBase& other);
// forbid assignment
SubscriptionBase& operator = (const SubscriptionBase &);
};
/**

73
src/modules/uORB/topics/filtered_bottom_flow.h
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@ -1,73 +0,0 @@ @@ -1,73 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* 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 filtered_bottom_flow.h
* Definition of the filtered bottom flow uORB topic.
*/
#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_
#define TOPIC_FILTERED_BOTTOM_FLOW_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Filtered bottom flow in bodyframe.
*/
struct filtered_bottom_flow_s {
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
float sumx; /**< Integrated bodyframe x flow in meters */
float sumy; /**< Integrated bodyframe y flow in meters */
float vx; /**< Flow bodyframe x speed, m/s */
float vy; /**< Flow bodyframe y Speed, m/s */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(filtered_bottom_flow);
#endif

77
src/modules/uORB/topics/home_position.h
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@ -1,77 +0,0 @@ @@ -1,77 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Julian Oes <joes@student.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 home_position.h
* Definition of the home position uORB topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef TOPIC_HOME_POSITION_H_
#define TOPIC_HOME_POSITION_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* GPS home position in WGS84 coordinates.
*/
struct home_position_s {
uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude in meters (AMSL) */
float x; /**< X coordinate in meters */
float y; /**< Y coordinate in meters */
float z; /**< Z coordinate in meters */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(home_position);
#endif

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src/modules/uORB/topics/optical_flow.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @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 optical_flow.h
* Definition of the optical flow uORB topic.
*/
#ifndef TOPIC_OPTICAL_FLOW_H_
#define TOPIC_OPTICAL_FLOW_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
*/
/**
* Optical flow in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
struct optical_flow_s {
uint64_t timestamp; /**< in microseconds since system start */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
float gyro_x_rate_integral; /**< accumulated gyro value in radians around x axis */
float gyro_y_rate_integral; /**< accumulated gyro value in radians around y axis */
float gyro_z_rate_integral; /**< accumulated gyro value in radians around z axis */
float ground_distance_m; /**< Altitude / distance to ground in meters */
uint32_t integration_timespan; /**<accumulation timespan in microseconds */
uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
int16_t gyro_temperature;/**< Temperature * 100 in centi-degrees Celsius */
uint8_t quality; /**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(optical_flow);
#endif

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src/modules/uORB/topics/sensor_combined.h
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/****************************************************************************
*
* Copyright (c) 2012-2015 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 sensor_combined.h
* Definition of the sensor_combined uORB topic.
*
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Lorenz Meier <lorenz@px4.io>
*/
#ifndef SENSOR_COMBINED_H_
#define SENSOR_COMBINED_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
enum MAGNETOMETER_MODE {
MAGNETOMETER_MODE_NORMAL = 0,
MAGNETOMETER_MODE_POSITIVE_BIAS,
MAGNETOMETER_MODE_NEGATIVE_BIAS
};
/**
* @addtogroup topics
* @{
*/
/**
* Sensor readings in raw and SI-unit form.
*
* These values are read from the sensors. Raw values are in sensor-specific units,
* the scaled values are in SI-units, as visible from the ending of the variable
* or the comments. The use of the SI fields is in general advised, as these fields
* are scaled and offset-compensated where possible and do not change with board
* revisions and sensor updates.
*
*/
struct sensor_combined_s {
/*
* Actual data, this is specific to the type of data which is stored in this struct
* A line containing L0GME will be added by the Python logging code generator to the
* logged dataset.
*/
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
uint64_t timestamp; /**< Timestamp in microseconds since boot, from gyro */
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
unsigned gyro_errcount; /**< Error counter for gyro 0 */
float gyro_temp; /**< Temperature of gyro 0 */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
int accelerometer_mode; /**< Accelerometer measurement mode */
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
uint64_t accelerometer_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer_errcount; /**< Error counter for accel 0 */
float accelerometer_temp; /**< Temperature of accel 0 */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
int magnetometer_mode; /**< Magnetometer measurement mode */
float magnetometer_range_ga; /**< ± measurement range in Gauss */
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer_errcount; /**< Error counter for mag 0 */
float magnetometer_temp; /**< Temperature of mag 0 */
int16_t gyro1_raw[3]; /**< Raw sensor values of angular velocity */
float gyro1_rad_s[3]; /**< Angular velocity in radian per seconds */
uint64_t gyro1_timestamp; /**< Gyro timestamp */
unsigned gyro1_errcount; /**< Error counter for gyro 1 */
float gyro1_temp; /**< Temperature of gyro 1 */
int16_t accelerometer1_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer1_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
uint64_t accelerometer1_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer1_errcount; /**< Error counter for accel 1 */
float accelerometer1_temp; /**< Temperature of accel 1 */
int16_t magnetometer1_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer1_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
uint64_t magnetometer1_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer1_errcount; /**< Error counter for mag 1 */
float magnetometer1_temp; /**< Temperature of mag 1 */
int16_t gyro2_raw[3]; /**< Raw sensor values of angular velocity */
float gyro2_rad_s[3]; /**< Angular velocity in radian per seconds */
uint64_t gyro2_timestamp; /**< Gyro timestamp */
unsigned gyro2_errcount; /**< Error counter for gyro 1 */
float gyro2_temp; /**< Temperature of gyro 1 */
int16_t accelerometer2_raw[3]; /**< Raw acceleration in NED body frame */
float accelerometer2_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
uint64_t accelerometer2_timestamp; /**< Accelerometer timestamp */
unsigned accelerometer2_errcount; /**< Error counter for accel 2 */
float accelerometer2_temp; /**< Temperature of accel 2 */
int16_t magnetometer2_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer2_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
uint64_t magnetometer2_timestamp; /**< Magnetometer timestamp */
unsigned magnetometer2_errcount; /**< Error counter for mag 2 */
float magnetometer2_temp; /**< Temperature of mag 2 */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
uint64_t baro_timestamp; /**< Barometer timestamp */
float baro1_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro1_alt_meter; /**< Altitude, already temp. comp. */
float baro1_temp_celcius; /**< Temperature in degrees celsius */
uint64_t baro1_timestamp; /**< Barometer timestamp */
float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
unsigned adc_mapping[10]; /**< Channel indices of each of these values */
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
float differential_pressure_pa; /**< Airspeed sensor differential pressure */
uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */
float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
float differential_pressure1_pa; /**< Airspeed sensor differential pressure */
uint64_t differential_pressure1_timestamp; /**< Last measurement timestamp */
float differential_pressure1_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(sensor_combined);
#endif

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src/modules/uORB/topics/vehicle_global_position.h
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/****************************************************************************
*
* Copyright (c) 2012-2014 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_global_position.h
* Definition of the global fused WGS84 position uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef VEHICLE_GLOBAL_POSITION_T_H_
#define VEHICLE_GLOBAL_POSITION_T_H_
#include <stdint.h>
#include <stdbool.h>
#include <platforms/px4_defines.h>
/**
* @addtogroup topics
* @{
*/
/**
* Fused global position in WGS84.
*
* This struct contains global position estimation. It is not the raw GPS
* measurement (@see vehicle_gps_position). This topic is usually published by the position
* estimator, which will take more sources of information into account than just GPS,
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
*/
struct vehicle_global_position_s {
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
uint64_t time_utc_usec; /**< GPS UTC timestamp in microseconds */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude AMSL in meters */
float vel_n; /**< Ground north velocity, m/s */
float vel_e; /**< Ground east velocity, m/s */
float vel_d; /**< Ground downside velocity, m/s */
float yaw; /**< Yaw in radians -PI..+PI. */
float eph; /**< Standard deviation of position estimate horizontally */
float epv; /**< Standard deviation of position vertically */
float terrain_alt; /**< Terrain altitude in m, WGS84 */
bool terrain_alt_valid; /**< Terrain altitude estimate is valid */
bool dead_reckoning; /**< True if this position is estimated through dead-reckoning*/
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_position);
#endif

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src/modules/uORB/topics/vehicle_gps_position.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_gps_position.h
* Definition of the GPS WGS84 uORB topic.
*/
#ifndef TOPIC_VEHICLE_GPS_H_
#define TOPIC_VEHICLE_GPS_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* GPS position in WGS84 coordinates.
*/
struct vehicle_gps_position_s {
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E-7 degrees */
int32_t lon; /**< Longitude in 1E-7 degrees */
int32_t alt; /**< Altitude in 1E-3 meters (millimeters) above MSL */
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float c_variance_rad; /**< course accuracy estimate rad */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
float eph; /**< GPS HDOP horizontal dilution of position in m */
float epv; /**< GPS VDOP horizontal dilution of position in m */
unsigned noise_per_ms; /**< */
unsigned jamming_indicator; /**< */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_utc_usec; /**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
uint8_t satellites_used; /**< Number of satellites used */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_gps_position);
#endif
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