Merge remote-tracking branch 'upstream/master' into dev_ros

4 files changed, 89 insertions, 9 deletions

diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp
index 05605417d..41a866968 100644
--- a/src/modules/uORB/Publication.cpp
+++ b/src/modules/uORB/Publication.cpp
@@ -46,6 +46,7 @@
 #include "topics/vehicle_attitude_setpoint.h"
 #include "topics/vehicle_rates_setpoint.h"
 #include "topics/actuator_outputs.h"
+#include "topics/actuator_direct.h"
 #include "topics/encoders.h"
 #include "topics/tecs_status.h"
 #include "topics/rc_channels.h"
@@ -77,6 +78,7 @@ template class __EXPORT Publication<vehicle_global_velocity_setpoint_s>;
 template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
 template class __EXPORT Publication<vehicle_rates_setpoint_s>;
 template class __EXPORT Publication<actuator_outputs_s>;
+template class __EXPORT Publication<actuator_direct_s>;
 template class __EXPORT Publication<encoders_s>;
 template class __EXPORT Publication<tecs_status_s>;
 template class __EXPORT Publication<rc_channels_s>;
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index b91a00c1e..49dfc7834 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -192,6 +192,9 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
 
+#include "topics/actuator_direct.h"
+ORB_DEFINE(actuator_direct, struct actuator_direct_s);
+
 #include "topics/multirotor_motor_limits.h"
 ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s);
 
diff --git a/src/modules/uORB/topics/actuator_direct.h b/src/modules/uORB/topics/actuator_direct.h
new file mode 100644
index 000000000..5f9d0f56d
--- /dev/null
+++ b/src/modules/uORB/topics/actuator_direct.h
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   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 actuator_direct.h
+ *
+ * Actuator direct values.
+ *
+ * Values published to this topic are the direct actuator values which
+ * should be passed to actuators, bypassing mixing
+ */
+
+#ifndef TOPIC_ACTUATOR_DIRECT_H
+#define TOPIC_ACTUATOR_DIRECT_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define NUM_ACTUATORS_DIRECT		16
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct actuator_direct_s {
+	uint64_t timestamp;				/**< timestamp in us since system boot */
+	float values[NUM_ACTUATORS_DIRECT];		/**< actuator values, from -1 to 1 */
+	unsigned nvalues;				/**< number of valid values */
+};
+
+/**
+ * @}
+ */
+
+/* actuator direct ORB */
+ORB_DECLARE(actuator_direct);
+
+#endif // TOPIC_ACTUATOR_DIRECT_H
diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h
index 0196ae86b..d3dc46ee0 100644
--- a/src/modules/uORB/topics/optical_flow.h
+++ b/src/modules/uORB/topics/optical_flow.h
@@ -55,16 +55,22 @@
  */
 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 */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
-	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint64_t timestamp;		/**< in microseconds since system start  */
 	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+	float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
+	float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
+	float gyro_x_rate_integral;	 /**< accumulated gyro value in radians around x axis */
+	float gyro_y_rate_integral;  /**< accumulated gyro value in radians around y axis */
+	float gyro_z_rate_integral;   /**< accumulated gyro value in radians around z axis */
+	float ground_distance_m;	 /**< Altitude / distance to ground in meters */
+	uint32_t integration_timespan; /**<accumulation timespan in microseconds     */
+	uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
+	uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
+	int16_t gyro_temperature;/**< 	Temperature * 100 in centi-degrees Celsius */
+	uint8_t	quality;		/**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
+
+
+
 
 };