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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-13 09:08:16 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-13 09:08:16 +0200 |
commit | 3f63b67eb66b44524b74847696a65d7a531d73d6 (patch) | |
tree | bf4954fb553edb1d9e200899ed531efa87505a90 /src/modules/uORB | |
parent | ee42d5f53d81580bee56b1cdcf69ebfdefb6ba09 (diff) | |
parent | fd435532b50428d7aab452d19db1d9c93f47dd5c (diff) | |
download | px4-firmware-3f63b67eb66b44524b74847696a65d7a531d73d6.tar.gz px4-firmware-3f63b67eb66b44524b74847696a65d7a531d73d6.tar.bz2 px4-firmware-3f63b67eb66b44524b74847696a65d7a531d73d6.zip |
Merged master into vision_estimate
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 8 | ||||
-rw-r--r-- | src/modules/uORB/topics/tecs_status.h | 12 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position_setpoint.h | 3 |
3 files changed, 12 insertions, 11 deletions
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 4a1932180..ec2131abd 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -60,7 +60,7 @@ enum SETPOINT_TYPE 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 set by offboard */ + SETPOINT_TYPE_OFFBOARD, /**< setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard */ }; struct position_setpoint_s @@ -71,9 +71,9 @@ struct position_setpoint_s 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 in NED */ - float vy; /**< local velocity setpoint in m in NED */ - float vz; /**< local velocity setpoint in m in NED */ + 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 */ diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h index 33055018c..ddca19d61 100644 --- a/src/modules/uORB/topics/tecs_status.h +++ b/src/modules/uORB/topics/tecs_status.h @@ -51,11 +51,13 @@ */ typedef enum { - TECS_MODE_NORMAL, + TECS_MODE_NORMAL = 0, TECS_MODE_UNDERSPEED, TECS_MODE_TAKEOFF, TECS_MODE_LAND, - TECS_MODE_LAND_THROTTLELIM + TECS_MODE_LAND_THROTTLELIM, + TECS_MODE_BAD_DESCENT, + TECS_MODE_CLIMBOUT } tecs_mode; /** @@ -65,14 +67,12 @@ struct tecs_status_s { uint64_t timestamp; /**< timestamp, in microseconds since system start */ float altitudeSp; - float altitude; - float altitudeFiltered; + float altitude_filtered; float flightPathAngleSp; float flightPathAngle; float flightPathAngleFiltered; float airspeedSp; - float airspeed; - float airspeedFiltered; + float airspeed_filtered; float airspeedDerivativeSp; float airspeedDerivative; diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h index 8988a0330..6766bb58a 100644 --- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h +++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h @@ -50,11 +50,12 @@ */ 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 to go to */ +}; /**< Local position in NED frame */ /** * @} |