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Diffstat (limited to 'src/modules/uORB/topics/vehicle_attitude.h')
| -rwxr-xr-x | src/modules/uORB/topics/vehicle_attitude.h | 91 |
1 files changed, 0 insertions, 91 deletions
diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h deleted file mode 100755 index 019944dc0..000000000 --- a/src/modules/uORB/topics/vehicle_attitude.h +++ /dev/null @@ -1,91 +0,0 @@ -/**************************************************************************** - * - * 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) */ - float g_comp[3]; /**< Compensated gravity vector */ - bool R_valid; /**< Rotation matrix valid */ - bool q_valid; /**< Quaternion valid */ -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_attitude); - -#endif |