port more uorb headers to msg

4 files changed, 0 insertions, 342 deletions

diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
deleted file mode 100644
index cb2262534..000000000
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ /dev/null
@@ -1,116 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 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 mission_item_triplet.h
- * Definition of the global WGS84 position setpoint uORB topic.
- *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
-#define TOPIC_MISSION_ITEM_TRIPLET_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-enum SETPOINT_TYPE
-{
-	SETPOINT_TYPE_POSITION = 0,	/**< position setpoint */
-	SETPOINT_TYPE_VELOCITY,		/**< velocity setpoint */
-	SETPOINT_TYPE_LOITER,		/**< loiter setpoint */
-	SETPOINT_TYPE_TAKEOFF,		/**< takeoff setpoint */
-	SETPOINT_TYPE_LAND,		/**< land setpoint, altitude must be ignored, descend until landing */
-	SETPOINT_TYPE_IDLE,		/**< do nothing, switch off motors or keep at idle speed (MC) */
-	SETPOINT_TYPE_OFFBOARD, 	/**< setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard */
-};
-
-struct position_setpoint_s
-{
-	bool valid;			/**< true if setpoint is valid */
-	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
-	float x;			/**< local position setpoint in m in NED */
-	float y;			/**< local position setpoint in m in NED */
-	float z;			/**< local position setpoint in m in NED */
-	bool position_valid;	/**< true if local position setpoint valid */
-	float vx;			/**< local velocity setpoint in m/s in NED */
-	float vy;			/**< local velocity setpoint in m/s in NED */
-	float vz;			/**< local velocity setpoint in m/s in NED */
-	bool velocity_valid;		/**< true if local velocity setpoint valid */
-	double lat;			/**< latitude, in deg */
-	double lon;			/**< longitude, in deg */
-	float alt;			/**< altitude AMSL, in m */
-	float yaw;			/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
-	bool yaw_valid;			/**< true if yaw setpoint valid */
-	float yawspeed;			/**< yawspeed (only for multirotors, in rad/s) */
-	bool yawspeed_valid;		/**< true if yawspeed setpoint valid */
-	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
-	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
-	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
-	float a_x;			//**< acceleration x setpoint */
-	float a_y;			//**< acceleration y setpoint */
-	float a_z;			//**< acceleration z setpoint */
-	bool acceleration_valid;	//*< true if acceleration setpoint is valid/should be used */
-	bool acceleration_is_force;	//*< interprete acceleration as force */
-};
-
-/**
- * Global position setpoint triplet in WGS84 coordinates.
- *
- * This are the three next waypoints (or just the next two or one).
- */
-struct position_setpoint_triplet_s
-{
-	struct position_setpoint_s previous;
-	struct position_setpoint_s current;
-	struct position_setpoint_s next;
-
-	unsigned nav_state;				/**< report the navigation state */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(position_setpoint_triplet);
-
-#endif
diff --git a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
deleted file mode 100644
index 5dac877d0..000000000
--- a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Anton Babushkin <anton.babushkin@me.com>
- *
- * 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_velocity_setpoint.h
- * Definition of the global velocity setpoint uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
-#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
-
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct vehicle_global_velocity_setpoint_s {
-	float vx;		/**< in m/s NED			  		*/
-	float vy;		/**< in m/s NED			  		*/
-	float vz;		/**< in m/s NED			  		*/
-}; /**< Velocity setpoint in NED frame */
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_global_velocity_setpoint);
-
-#endif
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
deleted file mode 100644
index 8b46c5a3f..000000000
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ /dev/null
@@ -1,96 +0,0 @@
-/****************************************************************************
- *
- *   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 vehicle_local_position.h
- * Definition of the local fused NED position uORB topic.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
- */
-
-#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 xy_valid;			/**< true if x and y are valid */
-	bool z_valid;			/**< true if z is valid */
-	bool v_xy_valid;		/**< true if vy and vy are valid */
-	bool v_z_valid;			/**< true if vz is valid */
-	/* Position in local NED frame */
-	float x;				/**< X position in meters in NED earth-fixed frame */
-	float y;				/**< X position in meters in NED earth-fixed frame */
-	float z;				/**< Z position in meters in NED earth-fixed frame (negative altitude) */
-	/* Velocity in NED frame */
-	float vx; 				/**< Ground X Speed (Latitude), m/s in NED */
-	float vy;				/**< Ground Y Speed (Longitude), m/s in NED */
-	float vz;				/**< Ground Z Speed (Altitude), m/s	in NED */
-	/* Heading */
-	float yaw;
-	/* Reference position in GPS / WGS84 frame */
-	bool xy_global;			/**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
-	bool z_global;			/**< true if z is valid and has valid global reference (ref_alt) */
-	uint64_t ref_timestamp;	/**< Time when reference position was set */
-	double ref_lat;		/**< Reference point latitude in degrees */
-	double ref_lon;		/**< Reference point longitude in degrees */
-	float ref_alt;			/**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
-	/* Distance to surface */
-	float dist_bottom;		/**< Distance to bottom surface (ground) */
-	float dist_bottom_rate;		/**< Distance to bottom surface (ground) change rate */
-	uint64_t surface_bottom_timestamp;		/**< Time when new bottom surface found */
-	bool dist_bottom_valid;	/**< true if distance to bottom surface is valid */
-	float eph;
-	float epv;
-};
-
-/**
- * @}
- */
-
-/* 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
deleted file mode 100644
index 6766bb58a..000000000
--- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/****************************************************************************
- *
- *   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 {
-	uint64_t timestamp;	/**< timestamp of the setpoint */
-	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 */
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_local_position_setpoint);
-
-#endif