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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-03 14:42:59 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-03 14:46:25 +0200 |
commit | 839710daf841a9528a58e915f8b04484bf54e7dc (patch) | |
tree | 997f95813e3a5cdf8af393323398e841f29c0fae /src/modules/uORB/topics/offboard_control_setpoint.h | |
parent | 57f707af56be0d9281a95aebf64baf63ef022267 (diff) | |
download | px4-firmware-839710daf841a9528a58e915f8b04484bf54e7dc.tar.gz px4-firmware-839710daf841a9528a58e915f8b04484bf54e7dc.tar.bz2 px4-firmware-839710daf841a9528a58e915f8b04484bf54e7dc.zip |
Update offboard control uorb topic
Work towards supporting the new external setpoint mavlink messages
Diffstat (limited to 'src/modules/uORB/topics/offboard_control_setpoint.h')
-rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 36 |
1 files changed, 27 insertions, 9 deletions
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index d7b131e3c..427ccc6c8 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -53,11 +53,22 @@ enum OFFBOARD_CONTROL_MODE { OFFBOARD_CONTROL_MODE_DIRECT = 0, OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1, OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2, - OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3, - OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4, - OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5, - OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6, - OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ + OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3, + OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4, + OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5, + OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6, + OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7, + OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 8, + OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 9, + OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 10, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ +}; + +enum OFFBOARD_CONTROL_FRAME { + OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0, + OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1, + OFFBOARD_CONTROL_FRAME_BODY_NED = 2, + OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3, + OFFBOARD_CONTROL_FRAME_GLOBAL = 4 }; /** @@ -70,10 +81,17 @@ struct offboard_control_setpoint_s { enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ - float p1; /**< ailerons roll / roll rate input */ - float p2; /**< elevator / pitch / pitch rate */ - float p3; /**< rudder / yaw rate / yaw */ - float p4; /**< throttle / collective thrust / altitude */ + double p1; /**< ailerons / roll / x pos / lat */ + double p2; /**< elevator / pitch / y pos / lon */ + float p3; /**< rudder / yaw / z pos / alt */ + float p4; /**< throttle / x vel */ + float p5; /**< roll rate / y vel */ + float p6; /**< pitch rate / z vel */ + float p7; /**< yaw rate / x acc */ + float p8; /**< y acc */ + float p9; /**< z acc */ + + bool ignore[9]; /**< if field i is set to true, pi should be ignored */ float override_mode_switch; |