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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-26 09:12:17 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-26 09:12:17 +0200 |
| commit | c5731bbc3f29361f3d50ecc54d44a521d2441a48 (patch) | |
| tree | 9820a5cf54f4096f54250d484248a1f53a66a8cb /src/modules/uORB | |
| parent | 25379771012761cd331e26eedd6a7ac649e04f5f (diff) | |
| download | px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.tar.gz px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.tar.bz2 px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.zip | |
TAKEOFF implemented for multirotors, added altitude check to waypoint navigation.
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 3 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 2 |
3 files changed, 5 insertions, 2 deletions
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 4f4db5dbc..e15ddde26 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -82,6 +82,8 @@ struct vehicle_control_mode_s bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */ bool failsave_highlevel; /**< Set to true if high-level failsafe mode is enabled */ + + uint8_t auto_state; // TEMP navigation state for AUTO modes }; /** diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index 822c323cf..0fc0ed5c9 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -72,8 +72,7 @@ struct vehicle_global_position_s float vx; /**< Ground X velocity, m/s in NED */ float vy; /**< Ground Y velocity, m/s in NED */ float vz; /**< Ground Z velocity, m/s in NED */ - float hdg; /**< Compass heading in radians -PI..+PI. */ - + float yaw; /**< Compass heading in radians -PI..+PI. */ }; /** diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index 26e8f335b..31a0e632b 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -67,6 +67,8 @@ struct vehicle_local_position_s float vx; /**< Ground X Speed (Latitude), m/s in NED */ float vy; /**< Ground Y Speed (Longitude), m/s in NED */ float vz; /**< Ground Z Speed (Altitude), m/s in NED */ + /* Heading */ + float yaw; /* Reference position in GPS / WGS84 frame */ bool global_xy; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */ bool global_z; /**< true if z is valid and has valid global reference (ref_alt) */ |