Fresh import of the PX4 firmware sources.

1 files changed, 77 insertions, 0 deletions

diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h
new file mode 100644
index 000000000..6b3757402
--- /dev/null
+++ b/apps/uORB/topics/vehicle_attitude_setpoint.h
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   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_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float tait_bryan_valid;			/**< Set to true if Tait-Bryan 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 */
+	float thrust;					/**< Thrust in Newton the power system should generate */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_attitude_setpoint);
+
+#endif /* TOPIC_ARDRONE_CONTROL_H_ */