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Diffstat (limited to 'src/modules/uORB/topics/vehicle_attitude.h')
-rwxr-xr-x | src/modules/uORB/topics/vehicle_attitude.h | 90 |
1 files changed, 90 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h new file mode 100755 index 000000000..c31c81d0c --- /dev/null +++ b/src/modules/uORB/topics/vehicle_attitude.h @@ -0,0 +1,90 @@ +/**************************************************************************** + * + * 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 vehicle_attitude.h + * Definition of the attitude uORB topic. + */ + +#ifndef VEHICLE_ATTITUDE_H_ +#define VEHICLE_ATTITUDE_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +/** + * Attitude in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct vehicle_attitude_s { + + uint64_t timestamp; /**< in microseconds since system start */ + + /* This is similar to the mavlink message ATTITUDE, but for onboard use */ + + /** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */ + + float roll; /**< Roll angle (rad, Tait-Bryan, NED) */ + float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */ + float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */ + float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */ + float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */ + float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */ + float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */ + float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */ + float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */ + float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ + float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ + float q[4]; /**< Quaternion (NED) */ + bool R_valid; /**< Rotation matrix valid */ + bool q_valid; /**< Quaternion valid */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_attitude); + +#endif |