Thomas Gubler
10 years ago
2 changed files with 0 additions and 188 deletions
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/****************************************************************************
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* |
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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file rc_channels.h |
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* Definition of the rc_channels uORB topic. |
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* |
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* @deprecated DO NOT USE FOR NEW CODE |
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*/ |
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#ifndef RC_CHANNELS_H_ |
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#define RC_CHANNELS_H_ |
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#include <stdint.h> |
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#include "../uORB.h" |
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/**
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* This defines the mapping of the RC functions. |
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* The value assigned to the specific function corresponds to the entry of |
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* the channel array channels[]. |
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*/ |
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enum RC_CHANNELS_FUNCTION { |
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THROTTLE = 0, |
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ROLL, |
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PITCH, |
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YAW, |
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MODE, |
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RETURN, |
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POSCTL, |
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LOITER, |
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OFFBOARD, |
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ACRO, |
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FLAPS, |
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AUX_1, |
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AUX_2, |
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AUX_3, |
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AUX_4, |
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AUX_5 |
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}; |
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// MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS
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#define RC_CHANNELS_FUNCTION_MAX 18 |
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/**
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* @addtogroup topics |
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* @{ |
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*/ |
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struct rc_channels_s { |
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uint64_t timestamp; /**< Timestamp in microseconds since boot time */ |
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uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ |
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float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ |
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uint8_t channel_count; /**< Number of valid channels */ |
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int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ |
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uint8_t rssi; /**< Receive signal strength index */ |
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bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ |
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}; /**< radio control channels. */ |
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/**
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* @} |
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*/ |
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/* register this as object request broker structure */ |
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ORB_DECLARE(rc_channels); |
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#endif |
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@@ -1,92 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> |
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* @author Julian Oes <joes@student.ethz.ch> |
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* @author Lorenz Meier <lm@inf.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* 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 |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file vehicle_attitude.h |
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* Definition of the attitude uORB topic. |
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*/ |
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#ifndef VEHICLE_ATTITUDE_H_ |
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#define VEHICLE_ATTITUDE_H_ |
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#include <stdint.h> |
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#include <stdbool.h> |
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#include "../uORB.h" |
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/**
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* @addtogroup topics |
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* @{ |
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*/ |
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/**
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* Attitude in NED body frame in SI units. |
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* |
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* @see http://en.wikipedia.org/wiki/International_System_of_Units
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*/ |
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struct vehicle_attitude_s { |
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uint64_t timestamp; /**< in microseconds since system start */ |
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/* This is similar to the mavlink message ATTITUDE, but for onboard use */ |
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/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ |
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float roll; /**< Roll angle (rad, Tait-Bryan, NED) */ |
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float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */ |
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float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */ |
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float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */ |
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float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */ |
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float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */ |
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float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */ |
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float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */ |
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float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */ |
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float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ |
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float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ |
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float q[4]; /**< Quaternion (NED) */ |
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float g_comp[3]; /**< Compensated gravity vector */ |
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bool R_valid; /**< Rotation matrix valid */ |
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bool q_valid; /**< Quaternion valid */ |
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}; |
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/**
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* @} |
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*/ |
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/* register this as object request broker structure */ |
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ORB_DECLARE(vehicle_attitude); |
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#endif |
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