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Diffstat (limited to 'apps/uORB/topics/sensor_combined.h')
-rw-r--r-- | apps/uORB/topics/sensor_combined.h | 103 |
1 files changed, 103 insertions, 0 deletions
diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h new file mode 100644 index 000000000..ecf5ea81d --- /dev/null +++ b/apps/uORB/topics/sensor_combined.h @@ -0,0 +1,103 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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 sensor_combined.h + * Definition of the sensor_combined uORB topic. + */ + +#ifndef SENSOR_COMBINED_H_ +#define SENSOR_COMBINED_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Sensor readings in raw and SI-unit form. + * + * These values are read from the sensors. Raw values are in sensor-specific units, + * the scaled values are in SI-units, as visible from the ending of the variable + * or the comments. The use of the SI fields is in general advised, as these fields + * are scaled and offset-compensated where possible and do not change with board + * revisions and sensor updates. + * + */ +struct sensor_combined_s { + + /* + * Actual data, this is specific to the type of data which is stored in this struct + * A line containing L0GME will be added by the Python logging code generator to the + * logged dataset. + */ + + /* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */ + + uint64_t timestamp; /**< Timestamp in microseconds since boot LOGME */ + + int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity LOGME */ + uint16_t gyro_raw_counter; /**< Number of raw measurments taken LOGME */ + float gyro_rad_s[3]; /**< Angular velocity in radian per seconds LOGME */ + int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame LOGME */ + uint16_t accelerometer_raw_counter; /**< Number of raw acc measurements taken LOGME */ + float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 LOGME */ + int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame LOGME */ + float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss LOGME */ + uint16_t magnetometer_raw_counter; /**< Number of raw mag measurements taken LOGME */ + float baro_pres_mbar; /**< Barometric pressure, already temp. comp. LOGME */ + float baro_alt_meter; /**< Altitude, already temp. comp. LOGME */ + float baro_temp_celcius; /**< Temperature in degrees celsius LOGME */ + float battery_voltage_v; /**< Battery voltage in volts, filtered LOGME */ + float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 LOGME */ + uint16_t baro_raw_counter; /**< Number of raw baro measurements taken LOGME */ + uint16_t battery_voltage_counter; /**< Number of voltage measurements taken LOGME */ + bool battery_voltage_valid; /**< True if battery voltage can be measured LOGME */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(sensor_combined); + +#endif |