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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-25 09:19:36 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-25 09:19:36 +0200 |
commit | 55fde23233de3d311d6c8d0b2cd368e45af3caac (patch) | |
tree | ad4bc02208c430cd67dd5407406ae515d4686dbe /src/modules/uORB/topics | |
parent | 9be755ec61733142c86e3713b7845ea9ad929538 (diff) | |
download | px4-firmware-55fde23233de3d311d6c8d0b2cd368e45af3caac.tar.gz px4-firmware-55fde23233de3d311d6c8d0b2cd368e45af3caac.tar.bz2 px4-firmware-55fde23233de3d311d6c8d0b2cd368e45af3caac.zip |
support new yaw and yawrate fields in mavlnk position_target message
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 22 | ||||
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 2 |
2 files changed, 23 insertions, 1 deletions
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 6e37896af..72a28e501 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -86,7 +86,9 @@ enum {OFB_IGN_BIT_POS_X, OFB_IGN_BIT_BODYRATE_Y, OFB_IGN_BIT_BODYRATE_Z, OFB_IGN_BIT_ATT, - OFB_IGN_BIT_THRUST + OFB_IGN_BIT_THRUST, + OFB_IGN_BIT_YAW, + OFB_IGN_BIT_YAWRATE, }; /** @@ -105,6 +107,10 @@ struct offboard_control_setpoint_s { float attitude[4]; /**< attitude of vehicle (quaternion) */ float attitude_rate[3]; /**< body angular rates (x, y, z) */ float thrust; /**< thrust */ + float yaw; /**< yaw: this is the yaw from the position_target message + (not from the full attitude_target message) */ + float yaw_rate; /**< yaw rate: this is the yaw from the position_target message + (not from the full attitude_target message) */ uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file for mapping */ @@ -249,6 +255,20 @@ inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setp return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST)); } +/** + * Returns true if the yaw setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW)); +} + +/** + * Returns true if the yaw rate setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE)); +} + /* register this as object request broker structure */ ORB_DECLARE(offboard_control_setpoint); diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 3ea3f671e..cb2262534 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -79,7 +79,9 @@ struct position_setpoint_s double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + bool yaw_valid; /**< true if yaw setpoint valid */ float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ + bool yawspeed_valid; /**< true if yawspeed setpoint valid */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ |