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Diffstat (limited to 'src/modules/uORB/topics/vehicle_global_position_setpoint.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position_setpoint.h | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h new file mode 100644 index 000000000..eec6a8229 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 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_global_position_setpoint.h + * Definition of the global WGS84 position setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ +#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Global position setpoint in WGS84 coordinates. + * + * This is the position the MAV is heading towards. If it of type loiter, + * the MAV is circling around it with the given loiter radius in meters. + */ +struct vehicle_global_position_setpoint_s +{ + bool altitude_is_relative; /**< true if altitude is relative from start point */ + int32_t lat; /**< latitude in degrees * 1E7 */ + int32_t lon; /**< longitude in degrees * 1E7 */ + float altitude; /**< altitude in meters */ + float yaw; /**< in radians NED -PI..+PI */ + float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ + bool is_loiter; /**< true if loitering is enabled */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_global_position_setpoint); + +#endif |