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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 07:54:58 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 16:31:19 +0100 |
commit | c67cb25f9a4cb4ec507029865dd70837417ef894 (patch) | |
tree | e28ab7be748639e6bf66fbaa52ddbbf913162d6a /msg | |
parent | 856b10cc1a5a36a7b7d2978477185155792366c2 (diff) | |
download | px4-firmware-c67cb25f9a4cb4ec507029865dd70837417ef894.tar.gz px4-firmware-c67cb25f9a4cb4ec507029865dd70837417ef894.tar.bz2 px4-firmware-c67cb25f9a4cb4ec507029865dd70837417ef894.zip |
port more uorb headers to msg
Diffstat (limited to 'msg')
-rw-r--r-- | msg/position_setpoint.msg | 35 | ||||
-rw-r--r-- | msg/position_setpoint_triplet.msg | 8 | ||||
-rw-r--r-- | msg/vehicle_global_velocity_setpoint.msg | 4 | ||||
-rw-r--r-- | msg/vehicle_local_position.msg | 36 | ||||
-rw-r--r-- | msg/vehicle_local_position_setpoint.msg | 7 |
5 files changed, 90 insertions, 0 deletions
diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg new file mode 100644 index 000000000..ae6756aa8 --- /dev/null +++ b/msg/position_setpoint.msg @@ -0,0 +1,35 @@ +# this file is only used in the position_setpoint triple as a dependency + +uint8 SETPOINT_TYPE_POSITION=0 # position setpoint +uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint +uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint +uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint +uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing +uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) +uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard + +bool valid # true if setpoint is valid +uint8 type # setpoint type to adjust behavior of position controller +float32 x # local position setpoint in m in NED +float32 y # local position setpoint in m in NED +float32 z # local position setpoint in m in NED +bool position_valid # true if local position setpoint valid +float32 vx # local velocity setpoint in m/s in NED +float32 vy # local velocity setpoint in m/s in NED +float32 vz # local velocity setpoint in m/s in NED +bool velocity_valid # true if local velocity setpoint valid +float64 lat # latitude, in deg +float64 lon # longitude, in deg +float32 alt # altitude AMSL, in m +float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw +bool yaw_valid # true if yaw setpoint valid +float32 yawspeed # yawspeed (only for multirotors, in rad/s) +bool yawspeed_valid # true if yawspeed setpoint valid +float32 loiter_radius # loiter radius (only for fixed wing), in m +int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW +float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints +float32 a_x # acceleration x setpoint +float32 a_y # acceleration y setpoint +float32 a_z # acceleration z setpoint +bool acceleration_valid # true if acceleration setpoint is valid/should be used +bool acceleration_is_force # interprete acceleration as force diff --git a/msg/position_setpoint_triplet.msg b/msg/position_setpoint_triplet.msg new file mode 100644 index 000000000..8717f65d0 --- /dev/null +++ b/msg/position_setpoint_triplet.msg @@ -0,0 +1,8 @@ +# Global position setpoint triplet in WGS84 coordinates. +# This are the three next waypoints (or just the next two or one). + +px4/position_setpoint previous +px4/position_setpoint current +px4/position_setpoint next + +uint8 nav_state # report the navigation state diff --git a/msg/vehicle_global_velocity_setpoint.msg b/msg/vehicle_global_velocity_setpoint.msg new file mode 100644 index 000000000..ca7dcc826 --- /dev/null +++ b/msg/vehicle_global_velocity_setpoint.msg @@ -0,0 +1,4 @@ +# Velocity setpoint in NED frame +float32 vx # in m/s NED +float32 vy # in m/s NED +float32 vz # in m/s NED diff --git a/msg/vehicle_local_position.msg b/msg/vehicle_local_position.msg new file mode 100644 index 000000000..4da027ae7 --- /dev/null +++ b/msg/vehicle_local_position.msg @@ -0,0 +1,36 @@ +# Fused local position in NED. + +uint64 timestamp # Time of this estimate, in microseconds since system start +bool xy_valid # true if x and y are valid +bool z_valid # true if z is valid +bool v_xy_valid # true if vy and vy are valid +bool v_z_valid # true if vz is valid + +# Position in local NED frame +float32 x # X position in meters in NED earth-fixed frame +float32 y # X position in meters in NED earth-fixed frame +float32 z # Z position in meters in NED earth-fixed frame (negative altitude) + +# Velocity in NED frame +float32 vx # Ground X Speed (Latitude), m/s in NED +float32 vy # Ground Y Speed (Longitude), m/s in NED +float32 vz # Ground Z Speed (Altitude), m/s in NED + +# Heading +float32 yaw + +# Reference position in GPS / WGS84 frame +bool xy_global # true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) +bool z_global # true if z is valid and has valid global reference (ref_alt) +uint64 ref_timestamp # Time when reference position was set +float64 ref_lat # Reference point latitude in degrees +float64 ref_lon # Reference point longitude in degrees +float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level + +# Distance to surface +float32 dist_bottom # Distance to bottom surface (ground) +float32 dist_bottom_rate # Distance to bottom surface (ground) change rate +uint64 surface_bottom_timestamp # Time when new bottom surface found +bool dist_bottom_valid # true if distance to bottom surface is valid +float32 eph +float32 epv diff --git a/msg/vehicle_local_position_setpoint.msg b/msg/vehicle_local_position_setpoint.msg new file mode 100644 index 000000000..a2ff8a4ae --- /dev/null +++ b/msg/vehicle_local_position_setpoint.msg @@ -0,0 +1,7 @@ +# Local position in NED frame + +uint64 timestamp # timestamp of the setpoint +float32 x # in meters NED +float32 y # in meters NED +float32 z # in meters NED +float32 yaw # in radians NED -PI..+PI |