Added controller parameters, added vicon position reading

2 files changed, 81 insertions, 0 deletions

diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index f211648a9..b5e1d739c 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -77,6 +77,9 @@ ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 #include "topics/vehicle_local_position.h"
 ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
 
+#include "topics/vehicle_vicon_position.h"
+ORB_DEFINE(vehicle_vicon_position, struct vehicle_vicon_position_s);
+
 #include "topics/vehicle_rates_setpoint.h"
 ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
 
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