Add PX4Flow board modules and corresponding ORB msgs.

3 files changed, 149 insertions, 0 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 4197f6fb2..e22b58cad 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -101,6 +101,9 @@ ORB_DEFINE(vehicle_command, struct vehicle_command_s);
 #include "topics/vehicle_local_position_setpoint.h"
 ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
 
+#include "topics/vehicle_bodyframe_speed_setpoint.h"
+ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s);
+
 #include "topics/vehicle_global_position_setpoint.h"
 ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
 
@@ -119,6 +122,9 @@ ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
 #include "topics/optical_flow.h"
 ORB_DEFINE(optical_flow, struct optical_flow_s);
 
+#include "topics/filtered_bottom_flow.h"
+ORB_DEFINE(filtered_bottom_flow, struct filtered_bottom_flow_s);
+
 #include "topics/omnidirectional_flow.h"
 ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
 
diff --git a/src/modules/uORB/topics/filtered_bottom_flow.h b/src/modules/uORB/topics/filtered_bottom_flow.h
new file mode 100644
index 000000000..ab6de2613
--- /dev/null
+++ b/src/modules/uORB/topics/filtered_bottom_flow.h
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
+ *   		 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
+ * 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 filtered_bottom_flow.h
+ * Definition of the filtered bottom flow uORB topic.
+ */
+
+#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_
+#define TOPIC_FILTERED_BOTTOM_FLOW_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Filtered bottom flow in bodyframe.
+ */
+struct filtered_bottom_flow_s
+{
+	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
+
+	float sumx;				/**< Integrated bodyframe x flow in meters					   */
+	float sumy;				/**< Integrated bodyframe y flow in meters			   		   */
+
+	float vx; 				/**< Flow bodyframe x speed, m/s							   */
+	float vy;				/**< Flow bodyframe y Speed, m/s 							   */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(filtered_bottom_flow);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
new file mode 100644
index 000000000..fbfab09f3
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
+ *   		 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
+ * 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_bodyframe_speed_setpoint.h
+ * Definition of the bodyframe speed setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_
+#define TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_
+
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_bodyframe_speed_setpoint_s
+{
+	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
+
+	float vx;		/**< in m/s				  		*/
+	float vy;		/**< in m/s				  		*/
+//	float vz;		/**< in m/s				  		*/
+	float thrust_sp;
+	float yaw_sp;	/**< in radian		-PI +PI		*/
+}; /**< Speed in bodyframe to go to */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_bodyframe_speed_setpoint);
+
+#endif