diff options
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 14 | ||||
-rw-r--r-- | src/modules/uORB/topics/fence.h | 80 | ||||
-rw-r--r-- | src/modules/uORB/topics/home_position.h | 21 | ||||
-rw-r--r-- | src/modules/uORB/topics/mission.h | 56 | ||||
-rw-r--r-- | src/modules/uORB/topics/mission_result.h (renamed from src/modules/uORB/topics/vehicle_global_position_set_triplet.h) | 28 | ||||
-rw-r--r-- | src/modules/uORB/topics/navigation_capabilities.h | 7 | ||||
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h (renamed from src/modules/uORB/topics/vehicle_global_position_setpoint.h) | 61 | ||||
-rw-r--r-- | src/modules/uORB/topics/telemetry_status.h | 18 | ||||
-rwxr-xr-x | src/modules/uORB/topics/vehicle_attitude.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_attitude_setpoint.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 21 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 50 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 5 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 34 |
14 files changed, 258 insertions, 140 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index c6a252b55..4c84c1f25 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -117,17 +117,21 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi #include "topics/vehicle_bodyframe_speed_setpoint.h" ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s); -#include "topics/vehicle_global_position_setpoint.h" -ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s); - -#include "topics/vehicle_global_position_set_triplet.h" -ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s); +#include "topics/position_setpoint_triplet.h" +ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s); #include "topics/vehicle_global_velocity_setpoint.h" ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s); #include "topics/mission.h" ORB_DEFINE(mission, struct mission_s); +ORB_DEFINE(onboard_mission, struct mission_s); + +#include "topics/mission_result.h" +ORB_DEFINE(mission_result, struct mission_result_s); + +#include "topics/fence.h" +ORB_DEFINE(fence, unsigned); #include "topics/vehicle_attitude_setpoint.h" ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s); diff --git a/src/modules/uORB/topics/fence.h b/src/modules/uORB/topics/fence.h new file mode 100644 index 000000000..6f16c51cf --- /dev/null +++ b/src/modules/uORB/topics/fence.h @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Jean Cyr <jean.m.cyr@gmail.com> + * + * 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 fence.h + * Definition of geofence. + */ + +#ifndef TOPIC_FENCE_H_ +#define TOPIC_FENCE_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +#define GEOFENCE_MAX_VERTICES 16 + +/** + * This is the position of a geofence vertex + * + */ +struct fence_vertex_s { + // Worst case float precision gives us 2 meter resolution at the equator + float lat; /**< latitude in degrees */ + float lon; /**< longitude in degrees */ +}; + +/** + * This is the position of a geofence + * + */ +struct fence_s { + unsigned count; /**< number of actual vertices */ + struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES]; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(fence); + +#endif diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h index 09f5140b3..08d11abae 100644 --- a/src/modules/uORB/topics/home_position.h +++ b/src/modules/uORB/topics/home_position.h @@ -2,6 +2,7 @@ * * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> + * Julian Oes <joes@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,9 +35,10 @@ /** * @file home_position.h - * Definition of the GPS home position uORB topic. + * Definition of the home position uORB topic. * * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef TOPIC_HOME_POSITION_H_ @@ -53,17 +55,14 @@ /** * GPS home position in WGS84 coordinates. */ -struct home_position_s { - uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module */ +struct home_position_s +{ + uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - int32_t lat; /**< Latitude in 1E7 degrees */ - int32_t lon; /**< Longitude in 1E7 degrees */ - int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */ - float eph_m; /**< GPS HDOP horizontal dilution of position in m */ - float epv_m; /**< GPS VDOP horizontal dilution of position in m */ - float s_variance_m_s; /**< speed accuracy estimate m/s */ - float p_variance_m; /**< position accuracy estimate m */ + //bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then + double lat; /**< Latitude in degrees */ + double lon; /**< Longitude in degrees */ + float alt; /**< Altitude in meters */ }; /** diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 04cbf73e1..9594c4c6a 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -35,8 +35,8 @@ ****************************************************************************/ /** - * @file mission_item.h - * Definition of one mission item. + * @file mission.h + * Definition of a mission consisting of mission items. */ #ifndef TOPIC_MISSION_H_ @@ -46,14 +46,24 @@ #include <stdbool.h> #include "../uORB.h" +#define NUM_MISSIONS_SUPPORTED 256 + +/* compatible to mavlink MAV_CMD */ enum NAV_CMD { - NAV_CMD_WAYPOINT = 0, - NAV_CMD_LOITER_TURN_COUNT, - NAV_CMD_LOITER_TIME_LIMIT, - NAV_CMD_LOITER_UNLIMITED, - NAV_CMD_RETURN_TO_LAUNCH, - NAV_CMD_LAND, - NAV_CMD_TAKEOFF + NAV_CMD_WAYPOINT=16, + NAV_CMD_LOITER_UNLIMITED=17, + NAV_CMD_LOITER_TURN_COUNT=18, + NAV_CMD_LOITER_TIME_LIMIT=19, + NAV_CMD_RETURN_TO_LAUNCH=20, + NAV_CMD_LAND=21, + NAV_CMD_TAKEOFF=22, + NAV_CMD_ROI=80, + NAV_CMD_PATHPLANNING=81 +}; + +enum ORIGIN { + ORIGIN_MAVLINK = 0, + ORIGIN_ONBOARD }; /** @@ -69,22 +79,25 @@ enum NAV_CMD { */ struct mission_item_s { bool altitude_is_relative; /**< true if altitude is relative from start point */ - double lat; /**< latitude in degrees * 1E7 */ - double lon; /**< longitude in degrees * 1E7 */ + double lat; /**< latitude in degrees */ + double lon; /**< longitude in degrees */ float altitude; /**< altitude in meters */ - float yaw; /**< in radians NED -PI..+PI */ + float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */ float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ - uint8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ - enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ - float param1; - float param2; - float param3; - float param4; + int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ + enum NAV_CMD nav_cmd; /**< navigation command */ + float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */ + float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */ + float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ + bool autocontinue; /**< true if next waypoint should follow after this one */ + enum ORIGIN origin; /**< where the waypoint has been generated */ }; -struct mission_s { - struct mission_item_s *items; - unsigned count; +struct mission_s +{ + int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */ + unsigned count; /**< count of the missions stored in the datamanager */ + int current_index; /**< default -1, start at the one changed latest */ }; /** @@ -93,5 +106,6 @@ struct mission_s { /* register this as object request broker structure */ ORB_DECLARE(mission); +ORB_DECLARE(onboard_mission); #endif diff --git a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/mission_result.h index e8565d887..c99706b97 100644 --- a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h +++ b/src/modules/uORB/topics/mission_result.h @@ -35,36 +35,26 @@ ****************************************************************************/ /** - * @file vehicle_global_position_setpoint.h - * Definition of the global WGS84 position setpoint uORB topic. + * @file mission_result.h + * Mission results that navigator needs to pass on to commander and mavlink. */ -#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_ -#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_ +#ifndef TOPIC_MISSION_RESULT_H +#define TOPIC_MISSION_RESULT_H #include <stdint.h> #include <stdbool.h> #include "../uORB.h" -#include "vehicle_global_position_setpoint.h" - /** * @addtogroup topics * @{ */ -/** - * Global position setpoint triplet in WGS84 coordinates. - * - * This are the three next waypoints (or just the next two or one). - */ -struct vehicle_global_position_set_triplet_s { - bool previous_valid; /**< flag indicating previous position is valid */ - bool next_valid; /**< flag indicating next position is valid */ - - struct vehicle_global_position_setpoint_s previous; - struct vehicle_global_position_setpoint_s current; - struct vehicle_global_position_setpoint_s next; +struct mission_result_s +{ + bool mission_reached; /**< true if mission has been reached */ + unsigned mission_index; /**< index of the mission which has been reached */ }; /** @@ -72,6 +62,6 @@ struct vehicle_global_position_set_triplet_s { */ /* register this as object request broker structure */ -ORB_DECLARE(vehicle_global_position_set_triplet); +ORB_DECLARE(mission_result); #endif diff --git a/src/modules/uORB/topics/navigation_capabilities.h b/src/modules/uORB/topics/navigation_capabilities.h index 3a367b8cf..7a5ae9891 100644 --- a/src/modules/uORB/topics/navigation_capabilities.h +++ b/src/modules/uORB/topics/navigation_capabilities.h @@ -52,7 +52,12 @@ * Airspeed */ struct navigation_capabilities_s { - float turn_distance; /**< the optimal distance to a waypoint to switch to the next */ + float turn_distance; /**< the optimal distance to a waypoint to switch to the next */ + + /* Landing parameters: see fw_pos_control_l1/landingslope.h */ + float landing_horizontal_slope_displacement; + float landing_slope_angle_rad; + float landing_flare_length; }; /** diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 8102e367d..34aaa30dd 100644 --- a/src/modules/uORB/topics/vehicle_global_position_setpoint.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2013 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> @@ -35,44 +35,57 @@ ****************************************************************************/ /** - * @file vehicle_global_position_setpoint.h + * @file mission_item_triplet.h * Definition of the global WGS84 position setpoint uORB topic. */ -#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ -#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_ +#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_ +#define TOPIC_MISSION_ITEM_TRIPLET_H_ #include <stdint.h> #include <stdbool.h> #include "../uORB.h" -#include "mission.h" +#include <navigator/navigator_state.h> /** * @addtogroup topics * @{ */ +enum SETPOINT_TYPE +{ + SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */ + SETPOINT_TYPE_LOITER, /**< loiter setpoint */ + SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ + SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, vehicle must descend until landing */ + SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ +}; + +struct position_setpoint_s +{ + bool valid; /**< true if setpoint is valid */ + enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ + double lat; /**< latitude, in deg */ + double lon; /**< longitude, in deg */ + float alt; /**< altitude AMSL, in m */ + float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + float loiter_radius; /**< loiter radius (only for fixed wing), in m */ + int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ + float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ +}; + /** - * Global position setpoint in WGS84 coordinates. + * Global position setpoint triplet 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. + * This are the three next waypoints (or just the next two or one). */ -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 */ - int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ - enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ - float param1; - float param2; - float param3; - float param4; - float turn_distance_xy; /**< The distance on the plane which will mark this as reached */ - float turn_distance_z; /**< The distance in Z direction which will mark this as reached */ +struct position_setpoint_triplet_s +{ + struct position_setpoint_s previous; + struct position_setpoint_s current; + struct position_setpoint_s next; + + nav_state_t nav_state; /**< navigation state */ }; /** @@ -80,6 +93,6 @@ struct vehicle_global_position_setpoint_s { */ /* register this as object request broker structure */ -ORB_DECLARE(vehicle_global_position_setpoint); +ORB_DECLARE(position_setpoint_triplet); #endif diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index c181ec04f..76693c46e 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -57,14 +57,14 @@ enum TELEMETRY_STATUS_RADIO_TYPE { struct telemetry_status_s { uint64_t timestamp; - enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ - unsigned rssi; /**< local signal strength */ - unsigned remote_rssi; /**< remote signal strength */ - unsigned rxerrors; /**< receive errors */ - unsigned fixed; /**< count of error corrected packets */ - uint8_t noise; /**< background noise level */ - uint8_t remote_noise; /**< remote background noise level */ - uint8_t txbuf; /**< how full the tx buffer is as a percentage */ + enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ + uint8_t rssi; /**< local signal strength */ + uint8_t remote_rssi; /**< remote signal strength */ + uint16_t rxerrors; /**< receive errors */ + uint16_t fixed; /**< count of error corrected packets */ + uint8_t noise; /**< background noise level */ + uint8_t remote_noise; /**< remote background noise level */ + uint8_t txbuf; /**< how full the tx buffer is as a percentage */ }; /** @@ -73,4 +73,4 @@ struct telemetry_status_s { ORB_DECLARE(telemetry_status); -#endif /* TOPIC_TELEMETRY_STATUS_H */
\ No newline at end of file +#endif /* TOPIC_TELEMETRY_STATUS_H */ diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h index 4380a5ee7..e5a35ff9b 100755 --- a/src/modules/uORB/topics/vehicle_attitude.h +++ b/src/modules/uORB/topics/vehicle_attitude.h @@ -76,6 +76,7 @@ struct vehicle_attitude_s { 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 */ diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index fda3cd75e..d526a8ff2 100644 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -60,7 +60,7 @@ struct vehicle_attitude_setpoint_s { float yaw_body; /**< body angle in NED frame */ //float body_valid; /**< Set to true if body angles are valid */ - float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ + 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 diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 4c31f92b5..ea554006f 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -1,10 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> - * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012-2014 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 @@ -40,6 +36,11 @@ * Definition of the vehicle_control_mode uORB topic. * * All control apps should depend their actions based on the flags set here. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef VEHICLE_CONTROL_MODE @@ -48,6 +49,7 @@ #include <stdint.h> #include <stdbool.h> #include "../uORB.h" +#include "vehicle_status.h" /** * @addtogroup topics @{ @@ -59,6 +61,7 @@ * * Encodes the complete system state and is set by the commander app. */ + struct vehicle_control_mode_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ @@ -70,16 +73,14 @@ struct vehicle_control_mode_s { bool flag_system_hil_enabled; bool flag_control_manual_enabled; /**< true if manual input is mixed in */ - bool flag_control_offboard_enabled; /**< true if offboard control input is on */ + bool flag_control_auto_enabled; /**< true if onboard autopilot should act */ bool flag_control_rates_enabled; /**< true if rates are stabilized */ bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ - bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ - - bool flag_control_auto_enabled; // TEMP - uint8_t auto_state; // TEMP navigation state for AUTO modes + bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ + bool flag_control_termination_enabled; /**< true if flighttermination is enabled */ }; /** diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index 4376fa1ba..adcd028f0 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * 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> + * Copyright (c) 2012-2014 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 @@ -37,6 +34,10 @@ /** * @file vehicle_global_position.h * Definition of the global fused WGS84 position uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef VEHICLE_GLOBAL_POSITION_T_H_ @@ -51,27 +52,30 @@ * @{ */ -/** -* Fused global position in WGS84. -* -* This struct contains the system's believ about its position. It is not the raw GPS -* measurement (@see vehicle_gps_position). This topic is usually published by the position -* estimator, which will take more sources of information into account than just GPS, -* e.g. control inputs of the vehicle in a Kalman-filter implementation. -*/ + /** + * Fused global position in WGS84. + * + * This struct contains global position estimation. It is not the raw GPS + * measurement (@see vehicle_gps_position). This topic is usually published by the position + * estimator, which will take more sources of information into account than just GPS, + * e.g. control inputs of the vehicle in a Kalman-filter implementation. + */ struct vehicle_global_position_s { - uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ - bool valid; /**< true if position satisfies validity criteria of estimator */ + uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ + + bool global_valid; /**< true if position satisfies validity criteria of estimator */ + bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */ + + uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ + double lat; /**< Latitude in degrees */ + double lon; /**< Longitude in degrees */ + float alt; /**< Altitude AMSL in meters */ + float vel_n; /**< Ground north velocity, m/s */ + float vel_e; /**< Ground east velocity, m/s */ + float vel_d; /**< Ground downside velocity, m/s */ + float yaw; /**< Yaw in radians -PI..+PI. */ - int32_t lat; /**< Latitude in 1E7 degrees */ - int32_t lon; /**< Longitude in 1E7 degrees */ - float alt; /**< Altitude in meters */ - float relative_alt; /**< Altitude above home position in meters, */ - float vx; /**< Ground X velocity, m/s in NED */ - float vy; /**< Ground Y velocity, m/s in NED */ - float vz; /**< Ground Z velocity, m/s in NED */ - float yaw; /**< Compass heading in radians -PI..+PI. */ + float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */ }; /** diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index 44c339711..db9637cd9 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -76,6 +76,11 @@ struct vehicle_local_position_s { int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */ float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */ bool landed; /**< true if vehicle is landed */ + /* Distance to surface */ + float dist_bottom; /**< Distance to bottom surface (ground) */ + float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */ + uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */ + bool dist_bottom_valid; /**< true if distance to bottom surface is valid */ }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 65980233e..56be4d241 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -54,6 +54,8 @@ #include <stdbool.h> #include "../uORB.h" +#include <navigator/navigator_state.h> + /** * @addtogroup topics @{ */ @@ -64,22 +66,9 @@ typedef enum { MAIN_STATE_SEATBELT, MAIN_STATE_EASY, MAIN_STATE_AUTO, + MAIN_STATE_MAX } main_state_t; -/* navigation state machine */ -typedef enum { - NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization - NAVIGATION_STATE_STABILIZE, // attitude stabilization - NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization - NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization - NAVIGATION_STATE_AUTO_READY, // AUTO, landed, reeady for takeoff - NAVIGATION_STATE_AUTO_TAKEOFF, // detect takeoff using land detector and switch to desired AUTO mode - NAVIGATION_STATE_AUTO_LOITER, // pause mission - NAVIGATION_STATE_AUTO_MISSION, // fly mission - NAVIGATION_STATE_AUTO_RTL, // Return To Launch, when home position switch to LAND - NAVIGATION_STATE_AUTO_LAND // land and switch to AUTO_READY when landed (detect using land detector) -} navigation_state_t; - typedef enum { ARMING_STATE_INIT = 0, ARMING_STATE_STANDBY, @@ -87,7 +76,8 @@ typedef enum { ARMING_STATE_ARMED_ERROR, ARMING_STATE_STANDBY_ERROR, ARMING_STATE_REBOOT, - ARMING_STATE_IN_AIR_RESTORE + ARMING_STATE_IN_AIR_RESTORE, + ARMING_STATE_MAX } arming_state_t; typedef enum { @@ -96,6 +86,14 @@ typedef enum { } hil_state_t; typedef enum { + FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */ + FAILSAFE_STATE_RTL, /**< Return To Launch */ + FAILSAFE_STATE_LAND, /**< Land without position control */ + FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */ + FAILSAFE_STATE_MAX +} failsafe_state_t; + +typedef enum { MODE_SWITCH_MANUAL = 0, MODE_SWITCH_ASSISTED, MODE_SWITCH_AUTO @@ -108,11 +106,13 @@ typedef enum { typedef enum { RETURN_SWITCH_NONE = 0, + RETURN_SWITCH_NORMAL, RETURN_SWITCH_RETURN } return_switch_pos_t; typedef enum { MISSION_SWITCH_NONE = 0, + MISSION_SWITCH_LOITER, MISSION_SWITCH_MISSION } mission_switch_pos_t; @@ -175,9 +175,11 @@ struct vehicle_status_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ main_state_t main_state; /**< main state machine */ - navigation_state_t navigation_state; /**< navigation state machine */ + unsigned int set_nav_state; /**< set navigation state machine to specified value */ + uint64_t set_nav_state_timestamp; /**< timestamp of latest change of set_nav_state */ arming_state_t arming_state; /**< current arming state */ hil_state_t hil_state; /**< current hil state */ + failsafe_state_t failsafe_state; /**< current failsafe state */ int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */ int32_t system_id; /**< system id, inspired by MAVLink's system ID field */ |