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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-09 16:37:45 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-09 16:37:45 +0100 |
commit | 16e49c447d788c73535a6dd36474673cbf9b8e4f (patch) | |
tree | 5d9770de8c0450108a3c425352ae7e662a2add38 /apps/uORB/topics/omnidirectional_flow.h | |
parent | e1a6f1b9107c67179c9499e252c16ed6ea4bc2da (diff) | |
download | px4-firmware-16e49c447d788c73535a6dd36474673cbf9b8e4f.tar.gz px4-firmware-16e49c447d788c73535a6dd36474673cbf9b8e4f.tar.bz2 px4-firmware-16e49c447d788c73535a6dd36474673cbf9b8e4f.zip |
Added support for battery voltage and differential pressure to logging and plot script
Diffstat (limited to 'apps/uORB/topics/omnidirectional_flow.h')
-rw-r--r-- | apps/uORB/topics/omnidirectional_flow.h | 75 |
1 files changed, 75 insertions, 0 deletions
diff --git a/apps/uORB/topics/omnidirectional_flow.h b/apps/uORB/topics/omnidirectional_flow.h new file mode 100644 index 000000000..8f4be3b3f --- /dev/null +++ b/apps/uORB/topics/omnidirectional_flow.h @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * 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 optical_flow.h + * Definition of the optical flow uORB topic. + */ + +#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_ +#define TOPIC_OMNIDIRECTIONAL_FLOW_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +/** + * Omnidirectional optical flow in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct omnidirectional_flow_s { + + uint64_t timestamp; /**< in microseconds since system start */ + + uint16_t left[10]; /**< Left flow, in decipixels */ + uint16_t right[10]; /**< Right flow, in decipixels */ + float front_distance_m; /**< Altitude / distance to object front in meters */ + uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(omnidirectional_flow); + +#endif |