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Diffstat (limited to 'src/modules/uORB/topics/vehicle_attitude_setpoint.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_attitude_setpoint.h | 89 |
1 files changed, 0 insertions, 89 deletions
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h deleted file mode 100644 index 1cfc37cc6..000000000 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ /dev/null @@ -1,89 +0,0 @@ -/**************************************************************************** - * - * 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_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) */ - -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(vehicle_attitude_setpoint); -ORB_DECLARE(mc_virtual_attitude_setpoint); -ORB_DECLARE(fw_virtual_attitude_setpoint); - -#endif /* TOPIC_ARDRONE_CONTROL_H_ */ |