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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
commit | 13fc6703862862f4263d8d5d085b7a16b87190e1 (patch) | |
tree | 47f3a17cb6f38b1aafe22e1cdef085cd73cd3a1d /src/modules/uORB/topics/vehicle_rates_setpoint.h | |
parent | f57439b90e23de260259dec051d3e2ead2d61c8c (diff) | |
download | px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.gz px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.bz2 px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.zip |
Moved last libs, drivers and headers, cleaned up IO build
Diffstat (limited to 'src/modules/uORB/topics/vehicle_rates_setpoint.h')
-rw-r--r-- | src/modules/uORB/topics/vehicle_rates_setpoint.h | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h new file mode 100644 index 000000000..46e62c4b7 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_rates_setpoint.h @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * 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_rates_setpoint.h + * Definition of the vehicle rates setpoint topic + */ + +#ifndef TOPIC_VEHICLE_RATES_SETPOINT_H_ +#define TOPIC_VEHICLE_RATES_SETPOINT_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ +struct vehicle_rates_setpoint_s +{ + uint64_t timestamp; /**< in microseconds since system start */ + + float roll; /**< body angular rates in NED frame */ + float pitch; /**< body angular rates in NED frame */ + float yaw; /**< body angular rates in NED frame */ + float thrust; /**< thrust normalized to 0..1 */ + +}; /**< vehicle_rates_setpoint */ + + /** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_rates_setpoint); + +#endif |