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Diffstat (limited to 'src/modules/uORB/topics/offboard_control_setpoint.h')
| -rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 276 |
1 files changed, 0 insertions, 276 deletions
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h deleted file mode 100644 index 72a28e501..000000000 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ /dev/null @@ -1,276 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 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 offboard_control_setpoint.h - * Definition of the manual_control_setpoint uORB topic. - */ - -#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_ -#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_ - -#include <stdint.h> -#include "../uORB.h" - -/** - * Off-board control inputs. - * - * Typically sent by a ground control station / joystick or by - * some off-board controller via C or SIMULINK. - */ -enum OFFBOARD_CONTROL_MODE { - OFFBOARD_CONTROL_MODE_DIRECT = 0, - OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1, - OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2, - OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3, - OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4, - OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5, - OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6, - OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7, - OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8, - OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9, - OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10, - OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ -}; - -enum OFFBOARD_CONTROL_FRAME { - OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0, - OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1, - OFFBOARD_CONTROL_FRAME_BODY_NED = 2, - OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3, - OFFBOARD_CONTROL_FRAME_GLOBAL = 4 -}; - -/* mappings for the ignore bitmask */ -enum {OFB_IGN_BIT_POS_X, - OFB_IGN_BIT_POS_Y, - OFB_IGN_BIT_POS_Z, - OFB_IGN_BIT_VEL_X, - OFB_IGN_BIT_VEL_Y, - OFB_IGN_BIT_VEL_Z, - OFB_IGN_BIT_ACC_X, - OFB_IGN_BIT_ACC_Y, - OFB_IGN_BIT_ACC_Z, - OFB_IGN_BIT_BODYRATE_X, - OFB_IGN_BIT_BODYRATE_Y, - OFB_IGN_BIT_BODYRATE_Z, - OFB_IGN_BIT_ATT, - OFB_IGN_BIT_THRUST, - OFB_IGN_BIT_YAW, - OFB_IGN_BIT_YAWRATE, -}; - -/** - * @addtogroup topics - * @{ - */ - -struct offboard_control_setpoint_s { - uint64_t timestamp; - - enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ - - double position[3]; /**< lat, lon, alt / x, y, z */ - float velocity[3]; /**< x vel, y vel, z vel */ - float acceleration[3]; /**< x acc, y acc, z acc */ - float attitude[4]; /**< attitude of vehicle (quaternion) */ - float attitude_rate[3]; /**< body angular rates (x, y, z) */ - float thrust; /**< thrust */ - float yaw; /**< yaw: this is the yaw from the position_target message - (not from the full attitude_target message) */ - float yaw_rate; /**< yaw rate: this is the yaw from the position_target message - (not from the full attitude_target message) */ - - uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file - for mapping */ - - bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */ - - float override_mode_switch; - - float aux1_cam_pan_flaps; - float aux2_cam_tilt; - float aux3_cam_zoom; - float aux4_cam_roll; - -}; /**< offboard control inputs */ -/** - * @} - */ - -/** - * Returns true if the position setpoint at index should be ignored - */ -inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { - return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_POS_X + index))); -} - -/** - * Returns true if all position setpoints should be ignored - */ -inline bool offboard_control_sp_ignore_position_all(const struct offboard_control_setpoint_s &offboard_control_sp) { - for (int i = 0; i < 3; i++) { - if (!offboard_control_sp_ignore_position(offboard_control_sp, i)) { - return false; - } - } - return true; -} - -/** - * Returns true if some position setpoints should be ignored - */ -inline bool offboard_control_sp_ignore_position_some(const struct offboard_control_setpoint_s &offboard_control_sp) { - for (int i = 0; i < 3; i++) { - if (offboard_control_sp_ignore_position(offboard_control_sp, i)) { - return true; - } - } - return false; -} - -/** - * Returns true if the velocity setpoint at index should be ignored - */ -inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { - return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_VEL_X + index))); -} - -/** - * Returns true if all velocity setpoints should be ignored - */ -inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_control_setpoint_s &offboard_control_sp) { - for (int i = 0; i < 3; i++) { - if (!offboard_control_sp_ignore_velocity(offboard_control_sp, i)) { - return false; - } - } - return true; -} - -/** - * Returns true if some velocity setpoints should be ignored - */ -inline bool offboard_control_sp_ignore_velocity_some(const struct offboard_control_setpoint_s &offboard_control_sp) { - for (int i = 0; i < 3; i++) { - if (offboard_control_sp_ignore_velocity(offboard_control_sp, i)) { - return true; - } - } - return false; -} - -/** - * Returns true if the acceleration setpoint at index should be ignored - */ -inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { - return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_ACC_X + index))); -} - -/** - * Returns true if all acceleration setpoints should be ignored - */ -inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) { - for (int i = 0; i < 3; i++) { - if (!offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) { - return false; - } - } - return true; -} - -/** - * Returns true if some acceleration setpoints should be ignored - */ -inline bool offboard_control_sp_ignore_acceleration_some(const struct offboard_control_setpoint_s &offboard_control_sp) { - for (int i = 0; i < 3; i++) { - if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) { - return true; - } - } - return false; -} - -/** - * Returns true if the bodyrate setpoint at index should be ignored - */ -inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { - return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_BODYRATE_X + index))); -} - -/** - * Returns true if some of the bodyrate setpoints should be ignored - */ -inline bool offboard_control_sp_ignore_bodyrates_some(const struct offboard_control_setpoint_s &offboard_control_sp) { - for (int i = 0; i < 3; i++) { - if (offboard_control_sp_ignore_bodyrates(offboard_control_sp, i)) { - return true; - } - } - return false; -} - -/** - * Returns true if the attitude setpoint should be ignored - */ -inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) { - return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_ATT)); -} - -/** - * Returns true if the thrust setpoint should be ignored - */ -inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setpoint_s &offboard_control_sp) { - return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST)); -} - -/** - * Returns true if the yaw setpoint should be ignored - */ -inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) { - return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW)); -} - -/** - * Returns true if the yaw rate setpoint should be ignored - */ -inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) { - return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE)); -} - - -/* register this as object request broker structure */ -ORB_DECLARE(offboard_control_setpoint); - -#endif |