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92 lines
3.6 KiB
92 lines
3.6 KiB
/**************************************************************************** |
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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, |
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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 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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* 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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/* |
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* Actual data, this is specific to the type of data which is stored in this struct |
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* A line containing L0GME will be added by the Python logging code generator to the |
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* logged dataset. |
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*/ |
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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) LOGME */ |
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float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) LOGME */ |
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float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) LOGME */ |
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float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) LOGME */ |
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float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) LOGME */ |
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float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) LOGME */ |
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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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bool R_valid; /**< Rotation matrix valid */ |
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bool q_valid; /**< Quaternion valid */ |
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uint16_t counter; /**< Counter of all attitude messages (wraps) */ |
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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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