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author | Julian Oes <julian@oes.ch> | 2014-04-26 23:08:11 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-04-26 23:08:11 +0200 |
commit | e8531e8360e4f061f3cd69db90365f64837a7c76 (patch) | |
tree | fda98a4bf7bd67f339757f921a01976b45e37236 /src/modules/uORB | |
parent | 3a12cb46487980dbf85f4606e316d9643a2b3b23 (diff) | |
parent | 13dfe0447ccfa4f75b551d02b5c979a6ade4c81a (diff) | |
download | px4-firmware-e8531e8360e4f061f3cd69db90365f64837a7c76.tar.gz px4-firmware-e8531e8360e4f061f3cd69db90365f64837a7c76.tar.bz2 px4-firmware-e8531e8360e4f061f3cd69db90365f64837a7c76.zip |
Merge remote-tracking branch 'px4/ekf_home_init' into navigator_cleanup_ekf_home_init
Conflicts:
src/modules/commander/commander.cpp
src/modules/mc_pos_control/mc_pos_control_main.cpp
src/modules/navigator/navigator_main.cpp
src/modules/uORB/topics/vehicle_global_position.h
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/topics/home_position.h | 5 | ||||
-rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/optical_flow.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 12 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 8 |
6 files changed, 16 insertions, 14 deletions
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h index 08d11abae..70071130d 100644 --- a/src/modules/uORB/topics/home_position.h +++ b/src/modules/uORB/topics/home_position.h @@ -59,10 +59,13 @@ struct home_position_s { uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - //bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ float alt; /**< Altitude in meters */ + + float x; /**< X coordinate in meters */ + float y; /**< Y coordinate in meters */ + float z; /**< Z coordinate in meters */ }; /** diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 2b3a337b2..a23d89cd2 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -79,7 +79,7 @@ struct manual_control_setpoint_s { switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */ switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ - switch_pos_t mission_switch; /**< mission 2 position switch (optional): mission, loiter */ + switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index 98f0e3fa2..0196ae86b 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -57,6 +57,7 @@ struct optical_flow_s { uint64_t timestamp; /**< in microseconds since system start */ + uint64_t flow_timestamp; /**< timestamp from flow sensor */ int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ int16_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 */ diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 3246a39dd..c168b2fac 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -65,7 +65,7 @@ enum RC_CHANNELS_FUNCTION { MODE = 4, RETURN = 5, ASSISTED = 6, - MISSION = 7, + LOITER = 7, OFFBOARD_MODE = 8, FLAPS = 9, AUX_1 = 10, diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index cfab695f8..e32529cb4 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -61,12 +61,8 @@ * 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 */ - - bool global_valid; /**< true if position satisfies validity criteria of estimator */ - bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */ - - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ + uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ + uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ float alt; /**< Altitude AMSL in meters */ @@ -74,8 +70,8 @@ struct vehicle_global_position_s { float vel_e; /**< Ground east velocity, m/s */ float vel_d; /**< Ground downside velocity, m/s */ float yaw; /**< Yaw in radians -PI..+PI. */ - - float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */ + float eph; + float epv; }; /** diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index db9637cd9..a15303ea4 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -1,7 +1,6 @@ /**************************************************************************** * * 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 @@ -35,6 +34,9 @@ /** * @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_ @@ -72,8 +74,8 @@ struct vehicle_local_position_s { 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 */ - int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */ - int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */ + 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 */ bool landed; /**< true if vehicle is landed */ /* Distance to surface */ |