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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 */
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 */
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 */
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 */
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 */
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 0 */
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 */
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 */
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 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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