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/****************************************************************************
*
* Copyright (C) 2008-2012 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_attitude.h
* Definition of the attitude uORB topic.
*/
#ifndef VEHICLE_ATTITUDE_H_
#define VEHICLE_ATTITUDE_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Attitude in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
struct vehicle_attitude_s {
uint64_t timestamp; /**< in microseconds since system start */
/* This is similar to the mavlink message ATTITUDE, but for onboard use */
/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
float roll; /**< Roll angle (rad, Tait-Bryan, NED) */
float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */
float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */
float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */
float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */
float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */
float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */
float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */
float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */
float rate_offsets[3]; /**< Offsets of the body angular rates from zero */
float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
float q[4]; /**< Quaternion (NED) */
float g_comp[3]; /**< Compensated gravity vector */
bool R_valid; /**< Rotation matrix valid */
bool q_valid; /**< Quaternion valid */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_attitude);
#endif
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