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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @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_setpoint.h
* Definition of the vehicle attitude setpoint uORB topic.
*/
#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* vehicle attitude setpoint.
*/
struct vehicle_attitude_setpoint_s
{
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
float roll_body; /**< body angle in NED frame */
float pitch_body; /**< body angle in NED frame */
float yaw_body; /**< body angle in NED frame */
//float body_valid; /**< Set to true if body angles are valid */
float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
bool R_valid; /**< Set to true if rotation matrix is valid */
//! For quaternion-based attitude control
float q_d[4]; /** Desired quaternion for quaternion control */
bool q_d_valid; /**< Set to true if quaternion vector is valid */
float q_e[4]; /** Attitude error in quaternion */
bool q_e_valid; /**< Set to true if quaternion error vector is valid */
float thrust; /**< Thrust in Newton the power system should generate */
bool roll_reset_integral; /**< Reset roll integral part (navigation logic change) */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_attitude_setpoint);
#endif /* TOPIC_ARDRONE_CONTROL_H_ */
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