diff options
| -rw-r--r-- | msg/position_setpoint.msg | 35 | ||||
| -rw-r--r-- | msg/position_setpoint_triplet.msg | 8 | ||||
| -rw-r--r-- | msg/vehicle_global_velocity_setpoint.msg | 4 | ||||
| -rw-r--r-- | msg/vehicle_local_position.msg | 36 | ||||
| -rw-r--r-- | msg/vehicle_local_position_setpoint.msg | 7 | ||||
| -rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 116 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_velocity_setpoint.h | 63 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 96 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_local_position_setpoint.h | 67 |
9 files changed, 90 insertions, 342 deletions
diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg new file mode 100644 index 000000000..ae6756aa8 --- /dev/null +++ b/msg/position_setpoint.msg @@ -0,0 +1,35 @@ +# this file is only used in the position_setpoint triple as a dependency + +uint8 SETPOINT_TYPE_POSITION=0 # position setpoint +uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint +uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint +uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint +uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing +uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) +uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard + +bool valid # true if setpoint is valid +uint8 type # setpoint type to adjust behavior of position controller +float32 x # local position setpoint in m in NED +float32 y # local position setpoint in m in NED +float32 z # local position setpoint in m in NED +bool position_valid # true if local position setpoint valid +float32 vx # local velocity setpoint in m/s in NED +float32 vy # local velocity setpoint in m/s in NED +float32 vz # local velocity setpoint in m/s in NED +bool velocity_valid # true if local velocity setpoint valid +float64 lat # latitude, in deg +float64 lon # longitude, in deg +float32 alt # altitude AMSL, in m +float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw +bool yaw_valid # true if yaw setpoint valid +float32 yawspeed # yawspeed (only for multirotors, in rad/s) +bool yawspeed_valid # true if yawspeed setpoint valid +float32 loiter_radius # loiter radius (only for fixed wing), in m +int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW +float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints +float32 a_x # acceleration x setpoint +float32 a_y # acceleration y setpoint +float32 a_z # acceleration z setpoint +bool acceleration_valid # true if acceleration setpoint is valid/should be used +bool acceleration_is_force # interprete acceleration as force diff --git a/msg/position_setpoint_triplet.msg b/msg/position_setpoint_triplet.msg new file mode 100644 index 000000000..8717f65d0 --- /dev/null +++ b/msg/position_setpoint_triplet.msg @@ -0,0 +1,8 @@ +# Global position setpoint triplet in WGS84 coordinates. +# This are the three next waypoints (or just the next two or one). + +px4/position_setpoint previous +px4/position_setpoint current +px4/position_setpoint next + +uint8 nav_state # report the navigation state diff --git a/msg/vehicle_global_velocity_setpoint.msg b/msg/vehicle_global_velocity_setpoint.msg new file mode 100644 index 000000000..ca7dcc826 --- /dev/null +++ b/msg/vehicle_global_velocity_setpoint.msg @@ -0,0 +1,4 @@ +# Velocity setpoint in NED frame +float32 vx # in m/s NED +float32 vy # in m/s NED +float32 vz # in m/s NED diff --git a/msg/vehicle_local_position.msg b/msg/vehicle_local_position.msg new file mode 100644 index 000000000..4da027ae7 --- /dev/null +++ b/msg/vehicle_local_position.msg @@ -0,0 +1,36 @@ +# Fused local position in NED. + +uint64 timestamp # Time of this estimate, in microseconds since system start +bool xy_valid # true if x and y are valid +bool z_valid # true if z is valid +bool v_xy_valid # true if vy and vy are valid +bool v_z_valid # true if vz is valid + +# Position in local NED frame +float32 x # X position in meters in NED earth-fixed frame +float32 y # X position in meters in NED earth-fixed frame +float32 z # Z position in meters in NED earth-fixed frame (negative altitude) + +# Velocity in NED frame +float32 vx # Ground X Speed (Latitude), m/s in NED +float32 vy # Ground Y Speed (Longitude), m/s in NED +float32 vz # Ground Z Speed (Altitude), m/s in NED + +# Heading +float32 yaw + +# Reference position in GPS / WGS84 frame +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 ref_timestamp # Time when reference position was set +float64 ref_lat # Reference point latitude in degrees +float64 ref_lon # Reference point longitude in degrees +float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level + +# Distance to surface +float32 dist_bottom # Distance to bottom surface (ground) +float32 dist_bottom_rate # Distance to bottom surface (ground) change rate +uint64 surface_bottom_timestamp # Time when new bottom surface found +bool dist_bottom_valid # true if distance to bottom surface is valid +float32 eph +float32 epv diff --git a/msg/vehicle_local_position_setpoint.msg b/msg/vehicle_local_position_setpoint.msg new file mode 100644 index 000000000..a2ff8a4ae --- /dev/null +++ b/msg/vehicle_local_position_setpoint.msg @@ -0,0 +1,7 @@ +# Local position in NED frame + +uint64 timestamp # timestamp of the setpoint +float32 x # in meters NED +float32 y # in meters NED +float32 z # in meters NED +float32 yaw # in radians NED -PI..+PI diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h deleted file mode 100644 index cb2262534..000000000 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ /dev/null @@ -1,116 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 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 mission_item_triplet.h - * Definition of the global WGS84 position setpoint uORB topic. - * - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_ -#define TOPIC_MISSION_ITEM_TRIPLET_H_ - -#include <stdint.h> -#include <stdbool.h> -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -enum SETPOINT_TYPE -{ - SETPOINT_TYPE_POSITION = 0, /**< position setpoint */ - SETPOINT_TYPE_VELOCITY, /**< velocity setpoint */ - SETPOINT_TYPE_LOITER, /**< loiter setpoint */ - 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 in NED frame (x, y, z, vx, vy, vz) set by offboard */ -}; - -struct position_setpoint_s -{ - bool valid; /**< true if setpoint is valid */ - enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ - float x; /**< local position setpoint in m in NED */ - 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/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 */ - float alt; /**< altitude AMSL, in m */ - float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ - bool yaw_valid; /**< true if yaw setpoint valid */ - float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ - bool yawspeed_valid; /**< true if yawspeed setpoint valid */ - float loiter_radius; /**< loiter radius (only for fixed wing), in m */ - int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ - float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ - float a_x; //**< acceleration x setpoint */ - float a_y; //**< acceleration y setpoint */ - float a_z; //**< acceleration z setpoint */ - bool acceleration_valid; //*< true if acceleration setpoint is valid/should be used */ - bool acceleration_is_force; //*< interprete acceleration as force */ -}; - -/** - * Global position setpoint triplet in WGS84 coordinates. - * - * This are the three next waypoints (or just the next two or one). - */ -struct position_setpoint_triplet_s -{ - struct position_setpoint_s previous; - struct position_setpoint_s current; - struct position_setpoint_s next; - - unsigned nav_state; /**< report the navigation state */ -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(position_setpoint_triplet); - -#endif diff --git a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h b/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h deleted file mode 100644 index 5dac877d0..000000000 --- a/src/modules/uORB/topics/vehicle_global_velocity_setpoint.h +++ /dev/null @@ -1,63 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: @author Anton Babushkin <anton.babushkin@me.com> - * - * 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_global_velocity_setpoint.h - * Definition of the global velocity setpoint uORB topic. - */ - -#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_ -#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_ - -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -struct vehicle_global_velocity_setpoint_s { - float vx; /**< in m/s NED */ - float vy; /**< in m/s NED */ - float vz; /**< in m/s NED */ -}; /**< Velocity setpoint in NED frame */ - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_global_velocity_setpoint); - -#endif diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h deleted file mode 100644 index 8b46c5a3f..000000000 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ /dev/null @@ -1,96 +0,0 @@ -/**************************************************************************** - * - * 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 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_ -#define TOPIC_VEHICLE_LOCAL_POSITION_H_ - -#include <stdint.h> -#include <stdbool.h> -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -/** - * Fused local position in NED. - */ -struct vehicle_local_position_s { - uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ - bool xy_valid; /**< true if x and y are valid */ - bool z_valid; /**< true if z is valid */ - bool v_xy_valid; /**< true if vy and vy are valid */ - bool v_z_valid; /**< true if vz is valid */ - /* Position in local NED frame */ - float x; /**< X position in meters in NED earth-fixed frame */ - float y; /**< X position in meters in NED earth-fixed frame */ - float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */ - /* Velocity in NED frame */ - 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 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 */ - 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 */ - /* Distance to surface */ - float dist_bottom; /**< Distance to bottom surface (ground) */ - float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */ - uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */ - bool dist_bottom_valid; /**< true if distance to bottom surface is valid */ - float eph; - float epv; -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_local_position); - -#endif diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h deleted file mode 100644 index 6766bb58a..000000000 --- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h +++ /dev/null @@ -1,67 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @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 - * 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_local_position_setpoint.h - * Definition of the local NED position setpoint uORB topic. - */ - -#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_ -#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_ - -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -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 */ - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_local_position_setpoint); - -#endif |