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| author | Julian Oes <julian@oes.ch> | 2014-06-27 10:44:38 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-27 12:55:11 +0200 |
| commit | 0b172d662a8926dbe1c8a0c59766f7c63bb8f4fe (patch) | |
| tree | c8d72575d3b560bc64d2e920c17e815af6a4445c | |
| parent | df9381636a2fa96e1bc02b4244273ec6b7f11aa9 (diff) | |
| download | px4-firmware-0b172d662a8926dbe1c8a0c59766f7c63bb8f4fe.tar.gz px4-firmware-0b172d662a8926dbe1c8a0c59766f7c63bb8f4fe.tar.bz2 px4-firmware-0b172d662a8926dbe1c8a0c59766f7c63bb8f4fe.zip | |
position_setpoint_triplet: add local position and velocity setpoints
| -rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index ce42035ba..673c0e491 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -60,16 +60,26 @@ enum SETPOINT_TYPE SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, descend until landing */ SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ + SETPOINT_TYPE_OFFBOARD, /**< setpoint set by offboard */ }; struct position_setpoint_s { bool valid; /**< true if setpoint is valid */ enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ + float x; /**< local position setpoint in m in NED */ + float y; /**< local position setpoint in m in NED */ + float z; /**< local position setpoint in m in NED */ + bool position_valid; /**< true if local position setpoint valid */ + float vx; /**< local velocity setpoint in m in NED */ + float vy; /**< local velocity setpoint in m in NED */ + float vz; /**< local velocity setpoint in m in NED */ + bool velocity_valid; /**< true if local velocity setpoint valid */ double lat; /**< latitude, in deg */ double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ |