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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-11 10:33:11 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-11 10:33:11 +0200 |
commit | 8bbaacb1e9381c29a83e0ecf37de6df3018bd38d (patch) | |
tree | 712af7080cdb82c244018419c2af692b0a73bf04 /src/modules/uORB | |
parent | 7bc0e26734a0319295e488e413db8f618b9b621c (diff) | |
parent | 5abdacc9079e4ebe5f2e3d855f3c5241adecef37 (diff) | |
download | px4-firmware-8bbaacb1e9381c29a83e0ecf37de6df3018bd38d.tar.gz px4-firmware-8bbaacb1e9381c29a83e0ecf37de6df3018bd38d.tar.bz2 px4-firmware-8bbaacb1e9381c29a83e0ecf37de6df3018bd38d.zip |
Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages
Conflicts:
src/modules/mavlink/mavlink_main.cpp
src/modules/mavlink/mavlink_main.h
src/modules/mavlink/mavlink_receiver.cpp
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_global_position.h | 4 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position_setpoint.h | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 3 |
5 files changed, 16 insertions, 14 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_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index e32529cb4..25137c1c6 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -70,8 +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 eph; - float epv; + float eph; /**< Standard deviation of position estimate horizontally */ + float epv; /**< Standard deviation of position vertically */ }; /** 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 */ /** * @} diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 7a40ac636..d9220fe14 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -186,7 +186,7 @@ struct vehicle_status_s { bool condition_system_sensors_initialized; bool condition_system_returned_to_home; bool condition_auto_mission_available; - bool condition_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */ + bool condition_global_position_valid; /**< set to true by the commander app if the quality of the position estimate is good enough to use it for navigation */ bool condition_launch_position_valid; /**< indicates a valid launch position */ bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */ bool condition_local_position_valid; @@ -228,6 +228,7 @@ struct vehicle_status_s { uint16_t errors_count4; bool circuit_breaker_engaged_power_check; + bool circuit_breaker_engaged_airspd_check; }; /** |