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| author | mazahner <mazahner@student.ethz.ch> | 2014-11-10 17:39:04 +0100 |
|---|---|---|
| committer | mazahner <mazahner@student.ethz.ch> | 2014-11-10 17:39:04 +0100 |
| commit | 6ec08335459457c82158d2df06050bd30fb8cc59 (patch) | |
| tree | 3d5407b6bc88533eacedb3bebfc9e0c9b23609ea /src/modules/uORB/topics/position_setpoint_triplet.h | |
| parent | d15203de91cc07530809060f949374bb8918daea (diff) | |
| parent | 4e8e6e653beb21808f532b83c6c6e827103ea379 (diff) | |
| download | px4-firmware-6ec08335459457c82158d2df06050bd30fb8cc59.tar.gz px4-firmware-6ec08335459457c82158d2df06050bd30fb8cc59.tar.bz2 px4-firmware-6ec08335459457c82158d2df06050bd30fb8cc59.zip | |
Merge branch 'master' of https://github.com/mazahner/Firmware
Diffstat (limited to 'src/modules/uORB/topics/position_setpoint_triplet.h')
| -rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 4a1932180..cb2262534 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -60,7 +60,7 @@ enum SETPOINT_TYPE SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, descend until landing */ SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ - SETPOINT_TYPE_OFFBOARD, /**< setpoint set by offboard */ + SETPOINT_TYPE_OFFBOARD, /**< setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard */ }; struct position_setpoint_s @@ -71,18 +71,25 @@ struct position_setpoint_s float y; /**< local position setpoint in m in NED */ float z; /**< local position setpoint in m in NED */ bool position_valid; /**< true if local position setpoint valid */ - float vx; /**< local velocity setpoint in m in NED */ - float vy; /**< local velocity setpoint in m in NED */ - float vz; /**< local velocity setpoint in m in NED */ + float vx; /**< local velocity setpoint in m/s in NED */ + float vy; /**< local velocity setpoint in m/s in NED */ + float vz; /**< local velocity setpoint in m/s in NED */ bool velocity_valid; /**< true if local velocity setpoint valid */ double lat; /**< latitude, in deg */ double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + bool yaw_valid; /**< true if yaw setpoint valid */ float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ + bool yawspeed_valid; /**< true if yawspeed setpoint valid */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ + float a_x; //**< acceleration x setpoint */ + float a_y; //**< acceleration y setpoint */ + float 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 */ }; /** |