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Diffstat (limited to 'apps/uORB/topics/vehicle_attitude_setpoint.h')
-rw-r--r-- | apps/uORB/topics/vehicle_attitude_setpoint.h | 77 |
1 files changed, 77 insertions, 0 deletions
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h new file mode 100644 index 000000000..6b3757402 --- /dev/null +++ b/apps/uORB/topics/vehicle_attitude_setpoint.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @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_attitude_setpoint.h + * Definition of the vehicle attitude setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_ +#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_ + +#include <stdint.h> +#include <stdbool.h> +#include <uORB.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * vehicle attitude setpoint. + */ +struct vehicle_attitude_setpoint_s +{ + uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + + float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */ + + float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ + bool R_valid; /**< Set to true if rotation matrix is valid */ + float thrust; /**< Thrust in Newton the power system should generate */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_attitude_setpoint); + +#endif /* TOPIC_ARDRONE_CONTROL_H_ */ |