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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 15:33:39 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 15:33:39 +0200 |
commit | 67a2c8a173819018ba2155688aa2a7bb682d8a77 (patch) | |
tree | b3cf26e1ac002c3eb144ee50254b874bc5f0b506 /apps/uORB/topics | |
parent | 607e902b886b39b5e9b58999dee97c2ea8938151 (diff) | |
download | px4-firmware-67a2c8a173819018ba2155688aa2a7bb682d8a77.tar.gz px4-firmware-67a2c8a173819018ba2155688aa2a7bb682d8a77.tar.bz2 px4-firmware-67a2c8a173819018ba2155688aa2a7bb682d8a77.zip |
Added controller parameters, added vicon position reading
Diffstat (limited to 'apps/uORB/topics')
-rw-r--r-- | apps/uORB/topics/vehicle_vicon_position.h | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/apps/uORB/topics/vehicle_vicon_position.h b/apps/uORB/topics/vehicle_vicon_position.h new file mode 100644 index 000000000..91d933f44 --- /dev/null +++ b/apps/uORB/topics/vehicle_vicon_position.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * 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_vicon_position.h + * Definition of the raw VICON Motion Capture position + */ + +#ifndef TOPIC_VEHICLE_VICON_POSITION_H_ +#define TOPIC_VEHICLE_VICON_POSITION_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Fused local position in NED. + */ +struct vehicle_vicon_position_s +{ + uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ + bool valid; /**< true if position satisfies validity criteria of estimator */ + + float x; /**< X positin in meters in NED earth-fixed frame */ + float y; /**< X positin in meters in NED earth-fixed frame */ + float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */ + float vx; + float vy; + float vz; + + // TODO Add covariances here + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_vicon_position); + +#endif |