Reworked control interface, needs testing / validation

1 files changed, 69 insertions, 0 deletions

diff --git a/apps/uORB/topics/vehicle_rates_setpoint.h b/apps/uORB/topics/vehicle_rates_setpoint.h
new file mode 100644
index 000000000..3400e5399
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+++ b/apps/uORB/topics/vehicle_rates_setpoint.h
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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_rates_setpoint.h
+ * Definition of the vehicle rates setpoint topic
+ */
+
+#ifndef TOPIC_VEHICLE_RATES_SETPOINT_H_
+#define TOPIC_VEHICLE_RATES_SETPOINT_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_rates_setpoint_s
+{
+	uint64_t timestamp; /**< in microseconds since system start */
+
+	float roll;	/**< body angular rates in NED frame		*/
+	float pitch;	/**< body angular rates in NED frame		*/
+	float yaw;	/**< body angular rates in NED frame		*/
+	float thrust;	/**< thrust normalized to 0..1			*/
+
+}; /**< vehicle_rates_setpoint */
+
+ /**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_rates_setpoint);
+
+#endif