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author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-10 14:11:25 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-10 14:11:25 +0200 |
commit | fc1669b0969890456f9151dd9719af87df62e69c (patch) | |
tree | ceee6fa9a7642b4ef2b63921299c006987add5a8 /src/modules/uORB | |
parent | 9b2d444cc56eaaedcf271f200b93dcca94623209 (diff) | |
parent | 58cae259e40a3dcab132f42348d57767fca600a1 (diff) | |
download | px4-firmware-fc1669b0969890456f9151dd9719af87df62e69c.tar.gz px4-firmware-fc1669b0969890456f9151dd9719af87df62e69c.tar.bz2 px4-firmware-fc1669b0969890456f9151dd9719af87df62e69c.zip |
Merge branch master into dataman_state_nav_rewrite
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 10 | ||||
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/telemetry_status.h | 10 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_force_setpoint.h | 65 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 4 |
9 files changed, 95 insertions, 3 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 9b118205e..c5831462b 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -206,6 +206,9 @@ ORB_DEFINE(encoders, struct encoders_s); #include "topics/estimator_status.h" ORB_DEFINE(estimator_status, struct estimator_status_report); +#include "topics/vehicle_force_setpoint.h" +ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s); + #include "topics/tecs_status.h" ORB_DEFINE(tecs_status, struct tecs_status_s); diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 910b8a623..dde237adc 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -98,6 +98,7 @@ struct manual_control_setpoint_s { switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ + switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 68d3e494b..d7b131e3c 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -69,7 +69,7 @@ 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 */ diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index ce42035ba..673c0e491 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -60,16 +60,26 @@ 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 */ }; 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 in NED */ + float vy; /**< local velocity setpoint in m in NED */ + float vz; /**< local velocity setpoint in m 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 */ + float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ 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 */ diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 829d8e57d..8978de471 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -56,7 +56,7 @@ enum RC_CHANNELS_FUNCTION { RETURN, POSCTL, LOITER, - OFFBOARD_MODE, + OFFBOARD, ACRO, FLAPS, AUX_1, diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index c4b99d520..3347724a5 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -86,4 +86,14 @@ static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_I ORB_ID(telemetry_status_3), }; +// This is a hack to quiet an unused-variable warning for when telemetry_status.h is +// included but telemetry_status_orb_id is not referenced. The inline works if you +// choose to use it, but you can continue to just directly index into the array as well. +// If you don't use the inline this ends up being a no-op with no additional code emitted. +extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index); +extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index) +{ + return telemetry_status_orb_id[index]; +} + #endif /* TOPIC_TELEMETRY_STATUS_H */ diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index ea554006f..49e2ba4b5 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -74,6 +74,7 @@ struct vehicle_control_mode_s { bool flag_control_manual_enabled; /**< true if manual input is mixed in */ bool flag_control_auto_enabled; /**< true if onboard autopilot should act */ + bool flag_control_offboard_enabled; /**< true if offboard control should be used */ 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 horizontal velocity (implies direction) is controlled */ diff --git a/src/modules/uORB/topics/vehicle_force_setpoint.h b/src/modules/uORB/topics/vehicle_force_setpoint.h new file mode 100644 index 000000000..e3a7360b2 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_force_setpoint.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (C) 2014 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_force_setpoint.h + * @author Thomas Gubler <thomasgubler@gmail.com> + * Definition of force (NED) setpoint uORB topic. Typically this can be used + * by a position control app together with an attitude control app. + */ + +#ifndef TOPIC_VEHICLE_FORCE_SETPOINT_H_ +#define TOPIC_VEHICLE_FORCE_SETPOINT_H_ + +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct vehicle_force_setpoint_s { + float x; /**< in N NED */ + float y; /**< in N NED */ + float z; /**< in N NED */ + float yaw; /**< right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) */ +}; /**< Desired force in NED frame */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_force_setpoint); + +#endif diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 56590047f..b46c00b75 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -70,7 +70,8 @@ typedef enum { MAIN_STATE_AUTO_LOITER, MAIN_STATE_AUTO_RTL, MAIN_STATE_ACRO, - MAIN_STATE_MAX, + MAIN_STATE_OFFBOARD, + MAIN_STATE_MAX } main_state_t; // If you change the order, add or remove arming_state_t states make sure to update the arrays @@ -106,6 +107,7 @@ typedef enum { NAVIGATION_STATE_LAND, /**< Land mode */ NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ NAVIGATION_STATE_TERMINATION, /**< Termination mode */ + NAVIGATION_STATE_OFFBOARD, NAVIGATION_STATE_MAX, } navigation_state_t; |