diff options
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 | |
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')
27 files changed, 2390 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h new file mode 100644 index 000000000..0b50a29ac --- /dev/null +++ b/src/modules/uORB/topics/actuator_controls.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 actuator_controls.h + * + * Actuator control topics - mixer inputs. + * + * Values published to these topics are the outputs of the vehicle control + * system, and are expected to be mixed and used to drive the actuators + * (servos, speed controls, etc.) that operate the vehicle. + * + * Each topic can be published by a single controller + */ + +#ifndef TOPIC_ACTUATOR_CONTROLS_H +#define TOPIC_ACTUATOR_CONTROLS_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_ACTUATOR_CONTROLS 8 +#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ + +struct actuator_controls_s { + uint64_t timestamp; + float control[NUM_ACTUATOR_CONTROLS]; +}; + +/* actuator control sets; this list can be expanded as more controllers emerge */ +ORB_DECLARE(actuator_controls_0); +ORB_DECLARE(actuator_controls_1); +ORB_DECLARE(actuator_controls_2); +ORB_DECLARE(actuator_controls_3); + +/* control sets with pre-defined applications */ +#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0) + +/** global 'actuator output is live' control. */ +struct actuator_armed_s { + bool armed; /**< Set to true if system is armed */ + bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ +}; + +ORB_DECLARE(actuator_armed); + +#endif
\ No newline at end of file diff --git a/src/modules/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h new file mode 100644 index 000000000..088c4fc8f --- /dev/null +++ b/src/modules/uORB/topics/actuator_controls_effective.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 actuator_controls_effective.h + * + * Actuator control topics - mixer inputs. + * + * Values published to these topics are the outputs of the vehicle control + * system and mixing process; they are the control-scale values that are + * then fed to the actual actuator driver. + * + * Each topic can be published by a single controller + */ + +#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H +#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H + +#include <stdint.h> +#include "../uORB.h" +#include "actuator_controls.h" + +#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS +#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */ + +struct actuator_controls_effective_s { + uint64_t timestamp; + float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE]; +}; + +/* actuator control sets; this list can be expanded as more controllers emerge */ +ORB_DECLARE(actuator_controls_effective_0); +ORB_DECLARE(actuator_controls_effective_1); +ORB_DECLARE(actuator_controls_effective_2); +ORB_DECLARE(actuator_controls_effective_3); + +/* control sets with pre-defined applications */ +#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE ORB_ID(actuator_controls_effective_0) + +#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
\ No newline at end of file diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h new file mode 100644 index 000000000..bbe429073 --- /dev/null +++ b/src/modules/uORB/topics/actuator_outputs.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 actuator_outputs.h + * + * Actuator output values. + * + * Values published to these topics are the outputs of the control mixing + * system as sent to the actuators (servos, motors, etc.) that operate + * the vehicle. + * + * Each topic can be published by a single output driver. + */ + +#ifndef TOPIC_ACTUATOR_OUTPUTS_H +#define TOPIC_ACTUATOR_OUTPUTS_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_ACTUATOR_OUTPUTS 16 +#define NUM_ACTUATOR_OUTPUT_GROUPS 4 /**< for sanity checking */ + +struct actuator_outputs_s { + uint64_t timestamp; /**< output timestamp in us since system boot */ + float output[NUM_ACTUATOR_OUTPUTS]; /**< output data, in natural output units */ + int noutputs; /**< valid outputs */ +}; + +/* actuator output sets; this list can be expanded as more drivers emerge */ +ORB_DECLARE(actuator_outputs_0); +ORB_DECLARE(actuator_outputs_1); +ORB_DECLARE(actuator_outputs_2); +ORB_DECLARE(actuator_outputs_3); + +/* output sets with pre-defined applications */ +#define ORB_ID_VEHICLE_CONTROLS ORB_ID(actuator_outputs_0) + +#endif
\ No newline at end of file diff --git a/src/modules/uORB/topics/battery_status.h b/src/modules/uORB/topics/battery_status.h new file mode 100644 index 000000000..c40d0d4e5 --- /dev/null +++ b/src/modules/uORB/topics/battery_status.h @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * + * 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 battery_status.h + * + * Definition of the battery status uORB topic. + */ + +#ifndef BATTERY_STATUS_H_ +#define BATTERY_STATUS_H_ + +#include "../uORB.h" +#include <stdint.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * Battery voltages and status + */ +struct battery_status_s { + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + float voltage_v; /**< Battery voltage in volts, filtered */ + float current_a; /**< Battery current in amperes, filtered, -1 if unknown */ + float discharged_mah; /**< Discharged amount in mAh, filtered, -1 if unknown */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(battery_status); + +#endif
\ No newline at end of file diff --git a/src/modules/uORB/topics/debug_key_value.h b/src/modules/uORB/topics/debug_key_value.h new file mode 100644 index 000000000..a9d1b83fd --- /dev/null +++ b/src/modules/uORB/topics/debug_key_value.h @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * 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 debug_key_value.h + * Definition of the debug named value uORB topic. Allows to send a 10-char key + * with a float as value. + */ + +#ifndef TOPIC_DEBUG_KEY_VALUE_H_ +#define TOPIC_DEBUG_KEY_VALUE_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +/** + * Key/value pair for debugging + */ +struct debug_key_value_s { + + /* + * Actual data, this is specific to the type of data which is stored in this struct + * A line containing L0GME will be added by the Python logging code generator to the + * logged dataset. + */ + uint32_t timestamp_ms; /**< in milliseconds since system start */ + char key[10]; /**< max. 10 characters as key / name */ + float value; /**< the value to send as debug output */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(debug_key_value); + +#endif diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h new file mode 100644 index 000000000..d5e4bf37e --- /dev/null +++ b/src/modules/uORB/topics/differential_pressure.h @@ -0,0 +1,71 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * + * 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 differential_pressure.h + * + * Definition of differential pressure topic + */ + +#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_ +#define TOPIC_DIFFERENTIAL_PRESSURE_H_ + +#include "../uORB.h" +#include <stdint.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * Differential pressure and airspeed + */ +struct differential_pressure_s { + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + float static_pressure_mbar; /**< Static / environment pressure */ + float differential_pressure_mbar; /**< Differential pressure reading */ + float temperature_celcius; /**< ambient temperature in celcius, -1 if unknown */ + float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */ + float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ + float voltage; /**< Voltage from the airspeed sensor (voltage divider already compensated) */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(differential_pressure); + +#endif diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h new file mode 100644 index 000000000..7e1b82a0f --- /dev/null +++ b/src/modules/uORB/topics/home_position.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * 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 home_position.h + * Definition of the GPS home position uORB topic. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#ifndef TOPIC_HOME_POSITION_H_ +#define TOPIC_HOME_POSITION_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * GPS home position in WGS84 coordinates. + */ +struct home_position_s +{ + uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ + uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module */ + + int32_t lat; /**< Latitude in 1E7 degrees */ + int32_t lon; /**< Longitude in 1E7 degrees */ + int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ + float eph_m; /**< GPS HDOP horizontal dilution of position in m */ + float epv_m; /**< GPS VDOP horizontal dilution of position in m */ + float s_variance_m_s; /**< speed accuracy estimate m/s */ + float p_variance_m; /**< position accuracy estimate m */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(home_position); + +#endif diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h new file mode 100644 index 000000000..261a8a4ad --- /dev/null +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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 manual_control_setpoint.h + * Definition of the manual_control_setpoint uORB topic. + */ + +#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_ +#define TOPIC_MANUAL_CONTROL_SETPOINT_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct manual_control_setpoint_s { + uint64_t timestamp; + + float roll; /**< ailerons roll / roll rate input */ + float pitch; /**< elevator / pitch / pitch rate */ + float yaw; /**< rudder / yaw rate / yaw */ + float throttle; /**< throttle / collective thrust / altitude */ + + float manual_override_switch; /**< manual override mode (mandatory) */ + float auto_mode_switch; /**< auto mode switch (mandatory) */ + + /** + * Any of the channels below may not be available and be set to NaN + * to indicate that it does not contain valid data. + */ + float manual_mode_switch; /**< manual mode (man, sas, alt) switch (optional) */ + float manual_sas_switch; /**< sas mode (rates / attitude) switch (optional) */ + float return_to_launch_switch; /**< return to launch switch (0 = disabled, 1 = enabled) */ + float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */ + + float flaps; /**< flap position */ + + float aux1; /**< default function: camera yaw / azimuth */ + float aux2; /**< default function: camera pitch / tilt */ + float aux3; /**< default function: camera trigger */ + float aux4; /**< default function: camera roll */ + float aux5; /**< default function: payload drop */ + +}; /**< manual control inputs */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(manual_control_setpoint); + +#endif diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h new file mode 100644 index 000000000..2e895c59c --- /dev/null +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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 offboard_control_setpoint.h + * Definition of the manual_control_setpoint uORB topic. + */ + +#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_ +#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Off-board control inputs. + * + * Typically sent by a ground control station / joystick or by + * some off-board controller via C or SIMULINK. + */ +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 */ +}; + +struct offboard_control_setpoint_s { + uint64_t timestamp; + + enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ + bool armed; /**< Armed flag set, yes / no */ + 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 */ + + float override_mode_switch; + + float aux1_cam_pan_flaps; + float aux2_cam_tilt; + float aux3_cam_zoom; + float aux4_cam_roll; + +}; /**< offboard control inputs */ +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(offboard_control_setpoint); + +#endif diff --git a/src/modules/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h new file mode 100644 index 000000000..8f4be3b3f --- /dev/null +++ b/src/modules/uORB/topics/omnidirectional_flow.h @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * 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 optical_flow.h + * Definition of the optical flow uORB topic. + */ + +#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_ +#define TOPIC_OMNIDIRECTIONAL_FLOW_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +/** + * Omnidirectional optical flow in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct omnidirectional_flow_s { + + uint64_t timestamp; /**< in microseconds since system start */ + + uint16_t left[10]; /**< Left flow, in decipixels */ + uint16_t right[10]; /**< Right flow, in decipixels */ + float front_distance_m; /**< Altitude / distance to object front in meters */ + uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(omnidirectional_flow); + +#endif diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h new file mode 100644 index 000000000..c854f0079 --- /dev/null +++ b/src/modules/uORB/topics/optical_flow.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * 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 optical_flow.h + * Definition of the optical flow uORB topic. + */ + +#ifndef TOPIC_OPTICAL_FLOW_H_ +#define TOPIC_OPTICAL_FLOW_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +/** + * Optical flow in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct optical_flow_s { + + uint64_t timestamp; /**< in microseconds since system start */ + + uint16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ + uint16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ + float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ + float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ + float ground_distance_m; /**< Altitude / distance to ground in meters */ + uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(optical_flow); + +#endif diff --git a/src/modules/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h new file mode 100644 index 000000000..300e895c7 --- /dev/null +++ b/src/modules/uORB/topics/parameter_update.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 parameter_update.h + * Notification about a parameter update. + */ + +#ifndef TOPIC_PARAMETER_UPDATE_H +#define TOPIC_PARAMETER_UPDATE_H + +#include <stdint.h> +#include "../uORB.h" + +struct parameter_update_s { + /** time at which the latest parameter was updated */ + uint64_t timestamp; +}; + +ORB_DECLARE(parameter_update); + +#endif
\ No newline at end of file diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h new file mode 100644 index 000000000..9dd54df91 --- /dev/null +++ b/src/modules/uORB/topics/rc_channels.h @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Nils Wenzler <wenzlern@student.ethz.ch> + * @author Ivan Ovinnikov <oivan@student.ethz.ch> + * @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 rc_channels.h + * Definition of the rc_channels uORB topic. + */ + +#ifndef RC_CHANNELS_H_ +#define RC_CHANNELS_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * The number of RC channel inputs supported. + * Current (Q1/2013) radios support up to 18 channels, + * leaving at a sane value of 14. + */ +#define RC_CHANNELS_MAX 14 + +/** + * This defines the mapping of the RC functions. + * The value assigned to the specific function corresponds to the entry of + * the channel array chan[]. + */ +enum RC_CHANNELS_FUNCTION +{ + THROTTLE = 0, + ROLL = 1, + PITCH = 2, + YAW = 3, + OVERRIDE = 4, + AUTO_MODE = 5, + MANUAL_MODE = 6, + SAS_MODE = 7, + RTL = 8, + OFFBOARD_MODE = 9, + FLAPS = 10, + AUX_1 = 11, + AUX_2 = 12, + AUX_3 = 13, + AUX_4 = 14, + AUX_5 = 15, + RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ +}; + +struct rc_channels_s { + + uint64_t timestamp; /**< In microseconds since boot time. */ + uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ + struct { + float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ + } chan[RC_CHANNELS_MAX]; + uint8_t chan_count; /**< number of valid channels */ + + /*String array to store the names of the functions*/ + char function_name[RC_CHANNELS_FUNCTION_MAX][20]; + int8_t function[RC_CHANNELS_FUNCTION_MAX]; + uint8_t rssi; /**< Overall receive signal strength */ +}; /**< radio control channels. */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(rc_channels); + +#endif diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h new file mode 100644 index 000000000..961ee8b4a --- /dev/null +++ b/src/modules/uORB/topics/sensor_combined.h @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @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 sensor_combined.h + * Definition of the sensor_combined uORB topic. + */ + +#ifndef SENSOR_COMBINED_H_ +#define SENSOR_COMBINED_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +enum MAGNETOMETER_MODE { + MAGNETOMETER_MODE_NORMAL = 0, + MAGNETOMETER_MODE_POSITIVE_BIAS, + MAGNETOMETER_MODE_NEGATIVE_BIAS +}; + +/** + * Sensor readings in raw and SI-unit form. + * + * These values are read from the sensors. Raw values are in sensor-specific units, + * the scaled values are in SI-units, as visible from the ending of the variable + * or the comments. The use of the SI fields is in general advised, as these fields + * are scaled and offset-compensated where possible and do not change with board + * revisions and sensor updates. + * + */ +struct sensor_combined_s { + + /* + * Actual data, this is specific to the type of data which is stored in this struct + * A line containing L0GME will be added by the Python logging code generator to the + * logged dataset. + */ + + /* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */ + + uint64_t timestamp; /**< Timestamp in microseconds since boot */ + + int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */ + uint16_t gyro_counter; /**< Number of raw measurments taken */ + float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */ + + int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */ + uint32_t accelerometer_counter; /**< Number of raw acc measurements taken */ + float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */ + int accelerometer_mode; /**< Accelerometer measurement mode */ + float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */ + + int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */ + float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */ + int magnetometer_mode; /**< Magnetometer measurement mode */ + float magnetometer_range_ga; /**< ± measurement range in Gauss */ + float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */ + uint32_t magnetometer_counter; /**< Number of raw mag measurements taken */ + + float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ + float baro_alt_meter; /**< Altitude, already temp. comp. */ + float baro_temp_celcius; /**< Temperature in degrees celsius */ + float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ + float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ + uint32_t baro_counter; /**< Number of raw baro measurements taken */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(sensor_combined); + +#endif diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h new file mode 100644 index 000000000..c415e832e --- /dev/null +++ b/src/modules/uORB/topics/subsystem_info.h @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.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 subsystem_info.h + * Definition of the subsystem info topic. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ + +#ifndef TOPIC_SUBSYSTEM_INFO_H_ +#define TOPIC_SUBSYSTEM_INFO_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +enum SUBSYSTEM_TYPE +{ + SUBSYSTEM_TYPE_GYRO = 1, + SUBSYSTEM_TYPE_ACC = 2, + SUBSYSTEM_TYPE_MAG = 4, + SUBSYSTEM_TYPE_ABSPRESSURE = 8, + SUBSYSTEM_TYPE_DIFFPRESSURE = 16, + SUBSYSTEM_TYPE_GPS = 32, + SUBSYSTEM_TYPE_OPTICALFLOW = 64, + SUBSYSTEM_TYPE_CVPOSITION = 128, + SUBSYSTEM_TYPE_LASERPOSITION = 256, + SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512, + SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024, + SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048, + SUBSYSTEM_TYPE_YAWPOSITION = 4096, + SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384, + SUBSYSTEM_TYPE_POSITIONCONTROL = 32768, + SUBSYSTEM_TYPE_MOTORCONTROL = 65536, + SUBSYSTEM_TYPE_RANGEFINDER = 131072 +}; + +/** + * State of individual sub systems + */ +struct subsystem_info_s { + bool present; + bool enabled; + bool ok; + + enum SUBSYSTEM_TYPE subsystem_type; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(subsystem_info); + +#endif /* TOPIC_SUBSYSTEM_INFO_H_ */ + diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h new file mode 100755 index 000000000..c31c81d0c --- /dev/null +++ b/src/modules/uORB/topics/vehicle_attitude.h @@ -0,0 +1,90 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @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_attitude.h + * Definition of the attitude uORB topic. + */ + +#ifndef VEHICLE_ATTITUDE_H_ +#define VEHICLE_ATTITUDE_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +/** + * Attitude in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct vehicle_attitude_s { + + uint64_t timestamp; /**< in microseconds since system start */ + + /* This is similar to the mavlink message ATTITUDE, but for onboard use */ + + /** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ + + float roll; /**< Roll angle (rad, Tait-Bryan, NED) */ + float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */ + float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */ + float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */ + float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */ + float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */ + float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */ + float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */ + float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */ + float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ + float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ + float q[4]; /**< Quaternion (NED) */ + bool R_valid; /**< Rotation matrix valid */ + bool q_valid; /**< Quaternion valid */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_attitude); + +#endif diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h new file mode 100644 index 000000000..a7cda34a8 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * 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_attitude_setpoint.h + * Definition of the vehicle attitude setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_ +#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * vehicle attitude setpoint. + */ +struct vehicle_attitude_setpoint_s +{ + uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + + float roll_body; /**< body angle in NED frame */ + float pitch_body; /**< body angle in NED frame */ + float yaw_body; /**< body angle in NED frame */ + //float body_valid; /**< Set to true if body angles are valid */ + + float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ + bool R_valid; /**< Set to true if rotation matrix is valid */ + + float thrust; /**< Thrust in Newton the power system should generate */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_attitude_setpoint); + +#endif /* TOPIC_ARDRONE_CONTROL_H_ */ diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h new file mode 100644 index 000000000..fac571659 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_command.h @@ -0,0 +1,140 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @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_command.h + * Definition of the vehicle command uORB topic. + */ + +#ifndef TOPIC_VEHICLE_COMMAND_H_ +#define TOPIC_VEHICLE_COMMAND_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Commands for commander app. + * + * Should contain all commands from MAVLink's VEHICLE_CMD ENUM, + * but can contain additional ones. + */ +enum VEHICLE_CMD +{ + VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ + VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ + VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ + VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ + VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ + VEHICLE_CMD_ENUM_END=401, /* | */ +}; + +/** + * Commands for commander app. + * + * Should contain all of MAVLink's VEHICLE_CMD_RESULT values + * but can contain additional ones. + */ +enum VEHICLE_CMD_RESULT +{ + VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */ + VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */ + VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */ + VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */ + VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */ + VEHICLE_CMD_RESULT_ENUM_END=5, /* | */ +}; + + +struct vehicle_command_s +{ + float param1; /**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum. */ + float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */ + float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */ + float param4; /**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum. */ + float param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */ + float param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */ + float param7; /**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum. */ + uint16_t command; /**< Command ID, as defined MAVLink by VEHICLE_CMD enum. */ + uint8_t target_system; /**< System which should execute the command */ + uint8_t target_component; /**< Component which should execute the command, 0 for all components */ + uint8_t source_system; /**< System sending the command */ + uint8_t source_component; /**< Component sending the command */ + uint8_t confirmation; /**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */ +}; /**< command sent to vehicle */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_command); + + + +#endif diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h new file mode 100644 index 000000000..f036c7223 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @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_global_position.h + * Definition of the global fused WGS84 position uORB topic. + */ + +#ifndef VEHICLE_GLOBAL_POSITION_T_H_ +#define VEHICLE_GLOBAL_POSITION_T_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + + /** + * Fused global position in WGS84. + * + * This struct contains the system's believ about its position. It is not the raw GPS + * measurement (@see vehicle_gps_position). This topic is usually published by the position + * estimator, which will take more sources of information into account than just GPS, + * e.g. control inputs of the vehicle in a Kalman-filter implementation. + */ +struct vehicle_global_position_s +{ + uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ + uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ + bool valid; /**< true if position satisfies validity criteria of estimator */ + + int32_t lat; /**< Latitude in 1E7 degrees LOGME */ + int32_t lon; /**< Longitude in 1E7 degrees LOGME */ + float alt; /**< Altitude in meters LOGME */ + float relative_alt; /**< Altitude above home position in meters, LOGME */ + float vx; /**< Ground X Speed (Latitude), m/s in ENU LOGME */ + float vy; /**< Ground Y Speed (Longitude), m/s in ENU LOGME */ + float vz; /**< Ground Z Speed (Altitude), m/s in ENU LOGME */ + float hdg; /**< Compass heading in radians -PI..+PI. */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_global_position); + +#endif diff --git a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h new file mode 100644 index 000000000..318abba89 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @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_global_position_setpoint.h + * Definition of the global WGS84 position setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_ +#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +#include "vehicle_global_position_setpoint.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Global position setpoint triplet in WGS84 coordinates. + * + * This are the three next waypoints (or just the next two or one). + */ +struct vehicle_global_position_set_triplet_s +{ + bool previous_valid; + bool next_valid; + + struct vehicle_global_position_setpoint_s previous; + struct vehicle_global_position_setpoint_s current; + struct vehicle_global_position_setpoint_s next; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_global_position_set_triplet); + +#endif diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h new file mode 100644 index 000000000..eec6a8229 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @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_global_position_setpoint.h + * Definition of the global WGS84 position setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ +#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Global position setpoint in WGS84 coordinates. + * + * This is the position the MAV is heading towards. If it of type loiter, + * the MAV is circling around it with the given loiter radius in meters. + */ +struct vehicle_global_position_setpoint_s +{ + bool altitude_is_relative; /**< true if altitude is relative from start point */ + int32_t lat; /**< latitude in degrees * 1E7 */ + int32_t lon; /**< longitude in degrees * 1E7 */ + float altitude; /**< altitude in meters */ + float yaw; /**< in radians NED -PI..+PI */ + float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ + bool is_loiter; /**< true if loitering is enabled */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_global_position_setpoint); + +#endif diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h new file mode 100644 index 000000000..0a7fb4e9d --- /dev/null +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @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_gps_position.h + * Definition of the GPS WGS84 uORB topic. + */ + +#ifndef TOPIC_VEHICLE_GPS_H_ +#define TOPIC_VEHICLE_GPS_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * GPS position in WGS84 coordinates. + */ +struct vehicle_gps_position_s +{ + uint64_t timestamp_position; /**< Timestamp for position information */ + int32_t lat; /**< Latitude in 1E7 degrees */ + int32_t lon; /**< Longitude in 1E7 degrees */ + int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ + + uint64_t timestamp_variance; + float s_variance_m_s; /**< speed accuracy estimate m/s */ + float p_variance_m; /**< position accuracy estimate m */ + float c_variance_rad; /**< course accuracy estimate rad */ + uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ + + float eph_m; /**< GPS HDOP horizontal dilution of position in m */ + float epv_m; /**< GPS VDOP horizontal dilution of position in m */ + + uint64_t timestamp_velocity; /**< Timestamp for velocity informations */ + float vel_m_s; /**< GPS ground speed (m/s) */ + float vel_n_m_s; /**< GPS ground speed in m/s */ + float vel_e_m_s; /**< GPS ground speed in m/s */ + float vel_d_m_s; /**< GPS ground speed in m/s */ + float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */ + bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */ + + uint64_t timestamp_time; /**< Timestamp for time information */ + uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ + + uint64_t timestamp_satellites; /**< Timestamp for sattelite information */ + uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ + uint8_t satellite_prn[20]; /**< Global satellite ID */ + uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ + uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */ + bool satellite_info_available; /**< 0 for no info, 1 for info available */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_gps_position); + +#endif diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h new file mode 100644 index 000000000..76eddeacd --- /dev/null +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * 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_local_position.h + * Definition of the local fused NED position uORB topic. + */ + +#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_ +#define TOPIC_VEHICLE_LOCAL_POSITION_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Fused local position in NED. + */ +struct vehicle_local_position_s +{ + uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ + bool valid; /**< true if position satisfies validity criteria of estimator */ + + float x; /**< X positin in meters in NED earth-fixed frame */ + float y; /**< X positin in meters in NED earth-fixed frame */ + float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */ + float absolute_alt; /**< Altitude as defined by pressure / GPS, LOGME */ + float vx; /**< Ground X Speed (Latitude), m/s in NED LOGME */ + float vy; /**< Ground Y Speed (Longitude), m/s in NED LOGME */ + float vz; /**< Ground Z Speed (Altitude), m/s in NED LOGME */ + float hdg; /**< Compass heading in radians -PI..+PI. */ + + // TODO Add covariances here + + /* Reference position in GPS / WGS84 frame */ + uint64_t home_timestamp;/**< Time when home position was set */ + int32_t home_lat; /**< Latitude in 1E7 degrees LOGME */ + int32_t home_lon; /**< Longitude in 1E7 degrees LOGME */ + float home_alt; /**< Altitude in meters LOGME */ + float home_hdg; /**< Compass heading in radians -PI..+PI. */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_local_position); + +#endif diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h new file mode 100644 index 000000000..d24d81e3a --- /dev/null +++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @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_local_position_setpoint.h + * Definition of the local NED position setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_ +#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_ + +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct vehicle_local_position_setpoint_s +{ + float x; /**< in meters NED */ + float y; /**< in meters NED */ + float z; /**< in meters NED */ + float yaw; /**< in radians NED -PI..+PI */ +}; /**< Local position in NED frame to go to */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_local_position_setpoint); + +#endif 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 diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h new file mode 100644 index 000000000..c7c1048f6 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_status.h @@ -0,0 +1,226 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.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_status.h + * Definition of the vehicle_status uORB topic. + * + * Published the state machine and the system status bitfields + * (see SYS_STATUS mavlink message), published only by commander app. + * + * All apps should write to subsystem_info: + * + * (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app) + */ + +#ifndef VEHICLE_STATUS_H_ +#define VEHICLE_STATUS_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics @{ + */ + +/* State Machine */ +typedef enum +{ + SYSTEM_STATE_PREFLIGHT = 0, + SYSTEM_STATE_STANDBY = 1, + SYSTEM_STATE_GROUND_READY = 2, + SYSTEM_STATE_MANUAL = 3, + SYSTEM_STATE_STABILIZED = 4, + SYSTEM_STATE_AUTO = 5, + SYSTEM_STATE_MISSION_ABORT = 6, + SYSTEM_STATE_EMCY_LANDING = 7, + SYSTEM_STATE_EMCY_CUTOFF = 8, + SYSTEM_STATE_GROUND_ERROR = 9, + SYSTEM_STATE_REBOOT= 10, + +} commander_state_machine_t; + +enum VEHICLE_MODE_FLAG { + VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, + VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, + VEHICLE_MODE_FLAG_HIL_ENABLED = 32, + VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16, + VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, + VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, + VEHICLE_MODE_FLAG_TEST_ENABLED = 2, + VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 +}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */ + +enum VEHICLE_FLIGHT_MODE { + VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */ + VEHICLE_FLIGHT_MODE_STAB, /**< attitude or rate stabilization plus velocity or position stabilization */ + VEHICLE_FLIGHT_MODE_HOLD, /**< hold current position (hover or loiter around position when switched) */ + VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */ +}; + +enum VEHICLE_MANUAL_CONTROL_MODE { + VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0, /**< no attitude control, direct stick input mixing (only fixed wing) */ + VEHICLE_MANUAL_CONTROL_MODE_RATES, /**< body rates control mode */ + VEHICLE_MANUAL_CONTROL_MODE_SAS /**< stability augmented system (SAS) mode */ +}; + +enum VEHICLE_MANUAL_SAS_MODE { + VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0, /**< roll, pitch and yaw absolute */ + VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE, /**< roll and pitch absolute, yaw rate */ + VEHICLE_MANUAL_SAS_MODE_SIMPLE, /**< simple mode (includes altitude hold) */ + VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */ +}; + +/** + * Should match 1:1 MAVLink's MAV_TYPE ENUM + */ +enum VEHICLE_TYPE { + VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ + VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ + VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */ + VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */ + VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ + VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ + VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */ + VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */ + VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ + VEHICLE_TYPE_ROCKET=9, /* Rocket | */ + VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */ + VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ + VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */ + VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */ + VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */ + VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */ + VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */ + VEHICLE_TYPE_KITE=17, /* Kite | */ + VEHICLE_TYPE_ENUM_END=18, /* | */ +}; + +enum VEHICLE_BATTERY_WARNING { + VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ + VEHICLE_BATTERY_WARNING_WARNING, /**< warning of low voltage 1. stage */ + VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */ +}; + + +/** + * state machine / state of vehicle. + * + * Encodes the complete system state and is set by the commander app. + */ +struct vehicle_status_s +{ + /* use of a counter and timestamp recommended (but not necessary) */ + + uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ + uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */ + //uint64_t failsave_highlevel_begin; TO BE COMPLETED + + commander_state_machine_t state_machine; /**< current flight state, main state machine */ + enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */ + enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */ + enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; /**< current stabilization mode */ + int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */ + int32_t system_id; /**< system id, inspired by MAVLink's system ID field */ + int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */ + + /* system flags - these represent the state predicates */ + + bool flag_system_armed; /**< true is motors / actuators are armed */ + bool flag_control_manual_enabled; /**< true if manual input is mixed in */ + bool flag_control_offboard_enabled; /**< true if offboard control input is on */ + bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */ + + bool flag_control_rates_enabled; /**< true if rates are stabilized */ + bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ + bool flag_control_velocity_enabled; /**< true if speed (implies direction) is controlled */ + bool flag_control_position_enabled; /**< true if position is controlled */ + + bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */ + bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */ + bool flag_preflight_accel_calibration; + bool flag_preflight_airspeed_calibration; + + bool rc_signal_found_once; + bool rc_signal_lost; /**< true if RC reception is terminally lost */ + bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */ + uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */ + + bool offboard_control_signal_found_once; + bool offboard_control_signal_lost; + bool offboard_control_signal_weak; + uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */ + + bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */ + //bool failsave_highlevel; + + /* see SYS_STATUS mavlink message for the following */ + uint32_t onboard_control_sensors_present; + uint32_t onboard_control_sensors_enabled; + uint32_t onboard_control_sensors_health; + float load; + float voltage_battery; + float current_battery; + float battery_remaining; + enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */ + uint16_t drop_rate_comm; + uint16_t errors_comm; + uint16_t errors_count1; + uint16_t errors_count2; + uint16_t errors_count3; + uint16_t errors_count4; + + bool flag_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */ + bool flag_local_position_valid; + bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */ + bool flag_auto_flight_mode_ok; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */ + bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ + bool flag_valid_launch_position; /**< indicates a valid launch position */ + bool flag_valid_home_position; /**< indicates a valid home position (a valid home position is not always a valid launch) */ + bool flag_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_status); + +#endif diff --git a/src/modules/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h new file mode 100644 index 000000000..0822fa89a --- /dev/null +++ b/src/modules/uORB/topics/vehicle_vicon_position.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * 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_vicon_position.h + * Definition of the raw VICON Motion Capture position + */ + +#ifndef TOPIC_VEHICLE_VICON_POSITION_H_ +#define TOPIC_VEHICLE_VICON_POSITION_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Fused local position in NED. + */ +struct vehicle_vicon_position_s +{ + uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ + bool valid; /**< true if position satisfies validity criteria of estimator */ + + float x; /**< X positin in meters in NED earth-fixed frame */ + float y; /**< X positin in meters in NED earth-fixed frame */ + float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */ + float roll; + float pitch; + float yaw; + + // TODO Add covariances here + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_vicon_position); + +#endif |