port more uorb headers to msg

5 files changed, 90 insertions, 0 deletions

diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg
new file mode 100644
index 000000000..ae6756aa8
--- /dev/null
+++ b/msg/position_setpoint.msg
@@ -0,0 +1,35 @@
+# 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
diff --git a/msg/position_setpoint_triplet.msg b/msg/position_setpoint_triplet.msg
new file mode 100644
index 000000000..8717f65d0
--- /dev/null
+++ b/msg/position_setpoint_triplet.msg
@@ -0,0 +1,8 @@
+# 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
diff --git a/msg/vehicle_global_velocity_setpoint.msg b/msg/vehicle_global_velocity_setpoint.msg
new file mode 100644
index 000000000..ca7dcc826
--- /dev/null
+++ b/msg/vehicle_global_velocity_setpoint.msg
@@ -0,0 +1,4 @@
+# Velocity setpoint in NED frame
+float32 vx		# in m/s NED
+float32 vy		# in m/s NED
+float32 vz		# in m/s NED
diff --git a/msg/vehicle_local_position.msg b/msg/vehicle_local_position.msg
new file mode 100644
index 000000000..4da027ae7
--- /dev/null
+++ b/msg/vehicle_local_position.msg
@@ -0,0 +1,36 @@
+# 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
diff --git a/msg/vehicle_local_position_setpoint.msg b/msg/vehicle_local_position_setpoint.msg
new file mode 100644
index 000000000..a2ff8a4ae
--- /dev/null
+++ b/msg/vehicle_local_position_setpoint.msg
@@ -0,0 +1,7 @@
+# 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