diff options
Diffstat (limited to 'src/modules/uORB/topics/vehicle_attitude_setpoint.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_attitude_setpoint.h | 59 |
1 files changed, 22 insertions, 37 deletions
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index a503aa0c6..29fb104df 100644 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * Copyright (C) 2013-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,49 +31,37 @@ * ****************************************************************************/ -/** - * @file vehicle_attitude_setpoint.h - * Definition of the vehicle attitude setpoint uORB topic. - */ + /* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/vehicle_attitude_setpoint.msg */ -#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_ -#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_ + +#pragma once #include <stdint.h> -#include <stdbool.h> -#include <platforms/px4_defines.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_body; /**< body angle in NED frame */ - float pitch_body; /**< body angle in NED frame */ - float yaw_body; /**< body angle in NED frame */ - //float body_valid; /**< Set to true if body angles are valid */ - - float R_body[3][3]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ - bool R_valid; /**< Set to true if rotation matrix is valid */ - - //! For quaternion-based attitude control - float q_d[4]; /** Desired quaternion for quaternion control */ - bool q_d_valid; /**< Set to true if quaternion vector is valid */ - float q_e[4]; /** Attitude error in quaternion */ - bool q_e_valid; /**< Set to true if quaternion error vector is valid */ - - float thrust; /**< Thrust in Newton the power system should generate */ - - bool roll_reset_integral; /**< Reset roll integral part (navigation logic change) */ - bool pitch_reset_integral; /**< Reset pitch integral part (navigation logic change) */ - bool yaw_reset_integral; /**< Reset yaw integral part (navigation logic change) */ +struct vehicle_attitude_setpoint_s { + uint64_t timestamp; + float roll_body; + float pitch_body; + float yaw_body; + float R_body[9]; + bool R_valid; + float q_d[4]; + bool q_d_valid; + float q_e[4]; + bool q_e_valid; + float thrust; + bool roll_reset_integral; + bool pitch_reset_integral; + bool yaw_reset_integral; }; /** @@ -83,5 +70,3 @@ struct vehicle_attitude_setpoint_s { /* register this as object request broker structure */ ORB_DECLARE(vehicle_attitude_setpoint); - -#endif /* TOPIC_ARDRONE_CONTROL_H_ */ |