diff options
author | samuezih <samuezih@ee.ethz.ch> | 2013-06-14 17:29:19 +0200 |
---|---|---|
committer | samuezih <samuezih@ee.ethz.ch> | 2013-06-14 17:31:46 +0200 |
commit | b789e01a0f396cd934dfc07d8a5834333aabf51e (patch) | |
tree | d39827f059804a964b4a96e48999bc603c0d4c0f /src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h | |
parent | f28cec350cb79139b6cc9d9cff32954a644e6f07 (diff) | |
download | px4-firmware-b789e01a0f396cd934dfc07d8a5834333aabf51e.tar.gz px4-firmware-b789e01a0f396cd934dfc07d8a5834333aabf51e.tar.bz2 px4-firmware-b789e01a0f396cd934dfc07d8a5834333aabf51e.zip |
Add PX4Flow board modules and corresponding ORB msgs.
Diffstat (limited to 'src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h')
-rw-r--r-- | src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h | 69 |
1 files changed, 69 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h new file mode 100644 index 000000000..fbfab09f3 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Samuel Zihlmann <samuezih@ee.ethz.ch> + * 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_bodyframe_speed_setpoint.h + * Definition of the bodyframe speed setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_ +#define TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_ + +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct vehicle_bodyframe_speed_setpoint_s +{ + uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + + float vx; /**< in m/s */ + float vy; /**< in m/s */ +// float vz; /**< in m/s */ + float thrust_sp; + float yaw_sp; /**< in radian -PI +PI */ +}; /**< Speed in bodyframe to go to */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_bodyframe_speed_setpoint); + +#endif |