diff options
Diffstat (limited to 'src/modules/uORB')
22 files changed, 487 insertions, 110 deletions
diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp index 5a5981617..cd0b30dd6 100644 --- a/src/modules/uORB/Publication.cpp +++ b/src/modules/uORB/Publication.cpp @@ -47,6 +47,7 @@ #include "topics/vehicle_rates_setpoint.h" #include "topics/actuator_outputs.h" #include "topics/encoders.h" +#include "topics/tecs_status.h" namespace uORB { @@ -76,5 +77,6 @@ template class __EXPORT Publication<vehicle_attitude_setpoint_s>; template class __EXPORT Publication<vehicle_rates_setpoint_s>; template class __EXPORT Publication<actuator_outputs_s>; template class __EXPORT Publication<encoders_s>; +template class __EXPORT Publication<tecs_status_s>; } diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp index c1d1a938f..44b6debc7 100644 --- a/src/modules/uORB/Subscription.cpp +++ b/src/modules/uORB/Subscription.cpp @@ -40,6 +40,7 @@ #include "topics/parameter_update.h" #include "topics/actuator_controls.h" #include "topics/vehicle_gps_position.h" +#include "topics/satellite_info.h" #include "topics/sensor_combined.h" #include "topics/vehicle_attitude.h" #include "topics/vehicle_global_position.h" @@ -88,6 +89,7 @@ T Subscription<T>::getData() { template class __EXPORT Subscription<parameter_update_s>; template class __EXPORT Subscription<actuator_controls_s>; template class __EXPORT Subscription<vehicle_gps_position_s>; +template class __EXPORT Subscription<satellite_info_s>; template class __EXPORT Subscription<sensor_combined_s>; template class __EXPORT Subscription<vehicle_attitude_s>; template class __EXPORT Subscription<vehicle_global_position_s>; diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 8340ca28a..679d6ea4f 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -79,6 +79,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s); #include "topics/vehicle_gps_position.h" ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s); +#include "topics/satellite_info.h" +ORB_DEFINE(satellite_info, struct satellite_info_s); + #include "topics/home_position.h" ORB_DEFINE(home_position, struct home_position_s); @@ -187,7 +190,10 @@ ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s); ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s); #include "topics/telemetry_status.h" -ORB_DEFINE(telemetry_status, struct telemetry_status_s); +ORB_DEFINE(telemetry_status_0, struct telemetry_status_s); +ORB_DEFINE(telemetry_status_1, struct telemetry_status_s); +ORB_DEFINE(telemetry_status_2, struct telemetry_status_s); +ORB_DEFINE(telemetry_status_3, struct telemetry_status_s); #include "topics/debug_key_value.h" ORB_DEFINE(debug_key_value, struct debug_key_value_s); @@ -203,3 +209,12 @@ ORB_DEFINE(encoders, struct encoders_s); #include "topics/estimator_status.h" ORB_DEFINE(estimator_status, struct estimator_status_report); + +#include "topics/vehicle_force_setpoint.h" +ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s); + +#include "topics/tecs_status.h" +ORB_DEFINE(tecs_status, struct tecs_status_s); + +#include "topics/wind_estimate.h" +ORB_DEFINE(wind_estimate, struct wind_estimate_s); diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h index 01e14cda9..cd48d3cb2 100644 --- a/src/modules/uORB/topics/differential_pressure.h +++ b/src/modules/uORB/topics/differential_pressure.h @@ -58,7 +58,6 @@ struct differential_pressure_s { float differential_pressure_raw_pa; /**< Raw differential pressure reading (may be negative) */ float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */ float max_differential_pressure_pa; /**< Maximum differential pressure reading */ - float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */ float temperature; /**< Temperature provided by sensor, -1000.0f if unknown */ }; diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h index 5530cdb21..7f26b505b 100644 --- a/src/modules/uORB/topics/estimator_status.h +++ b/src/modules/uORB/topics/estimator_status.h @@ -64,9 +64,9 @@ struct estimator_status_report { uint64_t timestamp; /**< Timestamp in microseconds since boot */ float states[32]; /**< Internal filter states */ float n_states; /**< Number of states effectively used */ - bool states_nan; /**< If set to true, one of the states is NaN */ - bool covariance_nan; /**< If set to true, the covariance matrix went NaN */ - bool kalman_gain_nan; /**< If set to true, the Kalman gain matrix went NaN */ + uint8_t nan_flags; /**< Bitmask to indicate NaN states */ + uint8_t health_flags; /**< Bitmask to indicate sensor health states (vel, pos, hgt) */ + uint8_t timeout_flags; /**< Bitmask to indicate timeout flags (vel, pos, hgt) */ }; diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h index 08d11abae..70071130d 100644 --- a/src/modules/uORB/topics/home_position.h +++ b/src/modules/uORB/topics/home_position.h @@ -59,10 +59,13 @@ struct home_position_s { uint64_t timestamp; /**< Timestamp (microseconds since system boot) */ - //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 */ + + float x; /**< X coordinate in meters */ + float y; /**< Y coordinate in meters */ + float z; /**< Z coordinate in meters */ }; /** diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 910b8a623..dde237adc 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -98,6 +98,7 @@ struct manual_control_setpoint_s { switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ + switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index ef4bc1def..e4b72f87c 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.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> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,9 @@ /** * @file mission.h * Definition of a mission consisting of mission items. + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef TOPIC_MISSION_H_ @@ -50,6 +50,7 @@ /* compatible to mavlink MAV_CMD */ enum NAV_CMD { + NAV_CMD_IDLE=0, NAV_CMD_WAYPOINT=16, NAV_CMD_LOITER_UNLIMITED=17, NAV_CMD_LOITER_TURN_COUNT=18, @@ -58,7 +59,8 @@ enum NAV_CMD { NAV_CMD_LAND=21, NAV_CMD_TAKEOFF=22, NAV_CMD_ROI=80, - NAV_CMD_PATHPLANNING=81 + NAV_CMD_PATHPLANNING=81, + NAV_CMD_DO_JUMP=177 }; enum ORIGIN { @@ -91,13 +93,20 @@ struct mission_item_s { 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 */ + int do_jump_mission_index; /**< index where the do jump will go to */ + unsigned do_jump_repeat_count; /**< how many times do jump needs to be done */ + unsigned do_jump_current_count; /**< count how many times the jump has been done */ }; +/** + * This topic used to notify navigator about mission changes, mission itself and new mission state + * must be stored in dataman before publication. + */ 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 */ + int dataman_id; /**< default 0, there are two offboard storage places in the dataman: 0 or 1 */ + unsigned count; /**< count of the missions stored in the dataman */ + int current_seq; /**< default -1, start at the one changed latest */ }; /** diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index 7c3921198..beb797e62 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -53,9 +53,10 @@ struct mission_result_s { - bool mission_reached; /**< true if mission has been reached */ - unsigned mission_index_reached; /**< index of the mission which has been reached */ - unsigned index_current_mission; /**< index of the current mission */ + unsigned seq_reached; /**< Sequence of the mission item which has been reached */ + unsigned seq_current; /**< Sequence of the current mission item */ + bool reached; /**< true if mission has been reached */ + bool finished; /**< true if mission has been completed */ }; /** diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 68d3e494b..d7b131e3c 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -69,7 +69,7 @@ struct offboard_control_setpoint_s { uint64_t timestamp; enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ - bool armed; /**< Armed flag set, yes / no */ + float p1; /**< ailerons roll / roll rate input */ float p2; /**< elevator / pitch / pitch rate */ float p3; /**< rudder / yaw rate / yaw */ diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 34aaa30dd..673c0e491 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -1,9 +1,6 @@ /**************************************************************************** * * 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> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,10 @@ /** * @file mission_item_triplet.h * Definition of the global WGS84 position setpoint uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef TOPIC_MISSION_ITEM_TRIPLET_H_ @@ -45,7 +46,6 @@ #include <stdint.h> #include <stdbool.h> #include "../uORB.h" -#include <navigator/navigator_state.h> /** * @addtogroup topics @@ -54,21 +54,32 @@ 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) */ + SETPOINT_TYPE_POSITION = 0, /**< position setpoint */ + SETPOINT_TYPE_VELOCITY, /**< velocity setpoint */ + SETPOINT_TYPE_LOITER, /**< loiter setpoint */ + SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ + SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, descend until landing */ + SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ + SETPOINT_TYPE_OFFBOARD, /**< setpoint set by offboard */ }; struct position_setpoint_s { bool valid; /**< true if setpoint is valid */ enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ + float x; /**< local position setpoint in m in NED */ + float y; /**< local position setpoint in m in NED */ + float z; /**< local position setpoint in m in NED */ + bool position_valid; /**< true if local position setpoint valid */ + float vx; /**< local velocity setpoint in m in NED */ + float vy; /**< local velocity setpoint in m in NED */ + float vz; /**< local velocity setpoint in m in NED */ + bool velocity_valid; /**< true if local velocity setpoint valid */ 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 yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ 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 */ @@ -84,8 +95,6 @@ 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 */ }; /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 370c54442..8978de471 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * 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 @@ -43,59 +43,43 @@ #include "../uORB.h" /** - * The number of RC channel inputs supported. - * Current (Q4/2013) radios support up to 18 channels, - * leaving at a sane value of 16. - * This number can be greater then number of RC channels, - * because single RC channel can be mapped to multiple - * functions, e.g. for various mode switches. - */ -#define RC_CHANNELS_MAPPED_MAX 16 - -/** * This defines the mapping of the RC functions. * The value assigned to the specific function corresponds to the entry of - * the channel array chan[]. + * the channel array channels[]. */ enum RC_CHANNELS_FUNCTION { THROTTLE = 0, - ROLL = 1, - PITCH = 2, - YAW = 3, - MODE = 4, - RETURN = 5, - POSCTL = 6, - LOITER = 7, - OFFBOARD_MODE = 8, - ACRO = 9, - FLAPS = 10, - AUX_1 = 11, - AUX_2 = 12, - AUX_3 = 13, - AUX_4 = 14, - AUX_5 = 15, - RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ + ROLL, + PITCH, + YAW, + MODE, + RETURN, + POSCTL, + LOITER, + OFFBOARD, + ACRO, + FLAPS, + AUX_1, + AUX_2, + AUX_3, + AUX_4, + AUX_5, + RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */ }; /** * @addtogroup topics * @{ */ - struct rc_channels_s { - - uint64_t timestamp; /**< In microseconds since boot time. */ - uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ - struct { - float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ - } chan[RC_CHANNELS_MAPPED_MAX]; - uint8_t chan_count; /**< number of valid channels */ - - /*String array to store the names of the functions*/ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; - int8_t function[RC_CHANNELS_FUNCTION_MAX]; - uint8_t rssi; /**< Overall receive signal strength */ - bool signal_lost; /**< control signal lost, should be checked together with topic timeout */ + uint64_t timestamp; /**< Timestamp in microseconds since boot time */ + uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ + float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ + uint8_t channel_count; /**< Number of valid channels */ + char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */ + int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ + uint8_t rssi; /**< Receive signal strength index */ + bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ }; /**< radio control channels. */ /** diff --git a/src/modules/uORB/topics/satellite_info.h b/src/modules/uORB/topics/satellite_info.h new file mode 100644 index 000000000..37c2faa96 --- /dev/null +++ b/src/modules/uORB/topics/satellite_info.h @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * Copyright (C) 2014 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 satellite_info.h + * Definition of the GNSS satellite info uORB topic. + */ + +#ifndef TOPIC_SAT_INFO_H_ +#define TOPIC_SAT_INFO_H_ + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * GNSS Satellite Info. + */ + +#define SAT_INFO_MAX_SATELLITES 20 + +struct satellite_info_s { + uint64_t timestamp; /**< Timestamp of satellite info */ + uint8_t count; /**< Number of satellites in satellite info */ + uint8_t svid[SAT_INFO_MAX_SATELLITES]; /**< Space vehicle ID [1..255], see scheme below */ + uint8_t used[SAT_INFO_MAX_SATELLITES]; /**< 0: Satellite not used, 1: used for navigation */ + uint8_t elevation[SAT_INFO_MAX_SATELLITES]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ + uint8_t azimuth[SAT_INFO_MAX_SATELLITES]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ + uint8_t snr[SAT_INFO_MAX_SATELLITES]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ +}; + +/** + * NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs + * u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf + * + * GPS 1-32 + * SBAS 120-158 + * Galileo 211-246 + * BeiDou 159-163, 33-64 + * QZSS 193-197 + * GLONASS 65-96, 255 + * + */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(satellite_info); + +#endif diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h new file mode 100644 index 000000000..c4d0c1874 --- /dev/null +++ b/src/modules/uORB/topics/tecs_status.h @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * 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 + * 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.h + * Definition of the global fused WGS84 position uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + */ + +#ifndef TECS_STATUS_T_H_ +#define TECS_STATUS_T_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +typedef enum { + TECS_MODE_NORMAL, + TECS_MODE_UNDERSPEED, + TECS_MODE_TAKEOFF, + TECS_MODE_LAND, + TECS_MODE_LAND_THROTTLELIM +} tecs_mode; + + /** + * Internal values of the (m)TECS fixed wing speed alnd altitude control system + */ +struct tecs_status_s { + uint64_t timestamp; /**< timestamp, in microseconds since system start */ + + float altitudeSp; + float altitude; + float flightPathAngleSp; + float flightPathAngle; + float flightPathAngleFiltered; + float airspeedSp; + float airspeed; + float airspeedFiltered; + float airspeedDerivativeSp; + float airspeedDerivative; + + float totalEnergyRateSp; + float totalEnergyRate; + float energyDistributionRateSp; + float energyDistributionRate; + + tecs_mode mode; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(tecs_status); + +#endif diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 76693c46e..3347724a5 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -57,6 +57,7 @@ enum TELEMETRY_STATUS_RADIO_TYPE { struct telemetry_status_s { uint64_t timestamp; + uint64_t heartbeat_time; /**< Time of last received heartbeat from remote system */ enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ uint8_t rssi; /**< local signal strength */ uint8_t remote_rssi; /**< remote signal strength */ @@ -71,6 +72,28 @@ struct telemetry_status_s { * @} */ -ORB_DECLARE(telemetry_status); +ORB_DECLARE(telemetry_status_0); +ORB_DECLARE(telemetry_status_1); +ORB_DECLARE(telemetry_status_2); +ORB_DECLARE(telemetry_status_3); + +#define TELEMETRY_STATUS_ORB_ID_NUM 4 + +static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = { + ORB_ID(telemetry_status_0), + ORB_ID(telemetry_status_1), + ORB_ID(telemetry_status_2), + ORB_ID(telemetry_status_3), +}; + +// This is a hack to quiet an unused-variable warning for when telemetry_status.h is +// included but telemetry_status_orb_id is not referenced. The inline works if you +// choose to use it, but you can continue to just directly index into the array as well. +// If you don't use the inline this ends up being a no-op with no additional code emitted. +extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index); +extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index) +{ + return telemetry_status_orb_id[index]; +} #endif /* TOPIC_TELEMETRY_STATUS_H */ diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index d526a8ff2..8446e9c6e 100644 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -72,6 +72,8 @@ struct vehicle_attitude_setpoint_s { 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) */ }; diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index ea554006f..49e2ba4b5 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -74,6 +74,7 @@ struct vehicle_control_mode_s { bool flag_control_manual_enabled; /**< true if manual input is mixed in */ bool flag_control_auto_enabled; /**< true if onboard autopilot should act */ + bool flag_control_offboard_enabled; /**< true if offboard control should be used */ 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 */ diff --git a/src/modules/uORB/topics/vehicle_force_setpoint.h b/src/modules/uORB/topics/vehicle_force_setpoint.h new file mode 100644 index 000000000..e3a7360b2 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_force_setpoint.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (C) 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 + * 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_force_setpoint.h + * @author Thomas Gubler <thomasgubler@gmail.com> + * Definition of force (NED) setpoint uORB topic. Typically this can be used + * by a position control app together with an attitude control app. + */ + +#ifndef TOPIC_VEHICLE_FORCE_SETPOINT_H_ +#define TOPIC_VEHICLE_FORCE_SETPOINT_H_ + +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct vehicle_force_setpoint_s { + float x; /**< in N NED */ + float y; /**< in N NED */ + float z; /**< in N NED */ + float yaw; /**< right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) */ +}; /**< Desired force in NED frame */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_force_setpoint); + +#endif diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index 4897ca737..e32529cb4 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -36,7 +36,7 @@ * Definition of the global fused WGS84 position uORB topic. * * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> + * @author Julian Oes <julian@oes.ch> * @author Lorenz Meier <lm@inf.ethz.ch> */ @@ -61,15 +61,14 @@ * 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 */ + uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ + 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 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. */ float eph; float epv; diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 5924a324d..80d65cd69 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -61,12 +61,11 @@ struct vehicle_gps_position_s { uint64_t timestamp_variance; float s_variance_m_s; /**< speed accuracy estimate m/s */ - float p_variance_m; /**< position accuracy estimate m */ float c_variance_rad; /**< course accuracy estimate rad */ uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ - float eph_m; /**< GPS HDOP horizontal dilution of position in m */ - float epv_m; /**< GPS VDOP horizontal dilution of position in m */ + float eph; /**< GPS HDOP horizontal dilution of position in m */ + float epv; /**< GPS VDOP horizontal dilution of position in m */ unsigned noise_per_ms; /**< */ unsigned jamming_indicator; /**< */ @@ -82,14 +81,7 @@ struct vehicle_gps_position_s { uint64_t timestamp_time; /**< Timestamp for time information */ uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */ - uint64_t timestamp_satellites; /**< Timestamp for sattelite information */ - uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */ - uint8_t satellite_prn[20]; /**< Global satellite ID */ - uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */ - uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */ - uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */ - uint8_t satellite_snr[20]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */ - bool satellite_info_available; /**< 0 for no info, 1 for info available */ + uint8_t satellites_used; /**< Number of satellites used */ }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index ea20a317a..b46c00b75 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.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 @@ -45,6 +41,11 @@ * All apps should write to subsystem_info: * * (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app) + * + * @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 <julian@oes.ch> */ #ifndef VEHICLE_STATUS_H_ @@ -54,19 +55,22 @@ #include <stdbool.h> #include "../uORB.h" -#include <navigator/navigator_state.h> - /** * @addtogroup topics @{ */ -/* main state machine */ +/** + * Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link. + */ typedef enum { MAIN_STATE_MANUAL = 0, MAIN_STATE_ALTCTL, MAIN_STATE_POSCTL, - MAIN_STATE_AUTO, + MAIN_STATE_AUTO_MISSION, + MAIN_STATE_AUTO_LOITER, + MAIN_STATE_AUTO_RTL, MAIN_STATE_ACRO, + MAIN_STATE_OFFBOARD, MAIN_STATE_MAX } main_state_t; @@ -80,7 +84,7 @@ typedef enum { ARMING_STATE_STANDBY_ERROR, ARMING_STATE_REBOOT, ARMING_STATE_IN_AIR_RESTORE, - ARMING_STATE_MAX + ARMING_STATE_MAX, } arming_state_t; typedef enum { @@ -88,13 +92,24 @@ typedef enum { HIL_STATE_ON } hil_state_t; +/** + * Navigation state, i.e. "what should vehicle do". + */ 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; + NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */ + NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */ + NAVIGATION_STATE_POSCTL, /**< Position control mode */ + NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */ + NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ + NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */ + NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */ + NAVIGATION_STATE_ACRO, /**< Acro mode */ + NAVIGATION_STATE_LAND, /**< Land mode */ + NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ + NAVIGATION_STATE_TERMINATION, /**< Termination mode */ + NAVIGATION_STATE_OFFBOARD, + NAVIGATION_STATE_MAX, +} navigation_state_t; enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, @@ -154,12 +169,11 @@ struct vehicle_status_s { uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ 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 */ - 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 */ + main_state_t main_state; /**< main state machine */ + navigation_state_t nav_state; /**< set navigation state machine to specified value */ arming_state_t arming_state; /**< current arming state */ - hil_state_t hil_state; /**< current hil state */ - failsafe_state_t failsafe_state; /**< current failsafe state */ + hil_state_t hil_state; /**< current hil state */ + bool failsafe; /**< true if system is in 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 */ @@ -179,11 +193,15 @@ struct vehicle_status_s { bool condition_local_altitude_valid; bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ bool condition_landed; /**< true if vehicle is landed, always true if disarmed */ + bool condition_power_input_valid; /**< set if input power is valid */ + float avionics_power_rail_voltage; /**< voltage of the avionics power rail */ bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ bool rc_input_blocked; /**< set if RC input should be ignored */ + bool data_link_lost; /**< datalink to GCS lost */ + bool offboard_control_signal_found_once; bool offboard_control_signal_lost; bool offboard_control_signal_weak; @@ -206,6 +224,8 @@ struct vehicle_status_s { uint16_t errors_count2; uint16_t errors_count3; uint16_t errors_count4; + + bool circuit_breaker_engaged_power_check; }; /** diff --git a/src/modules/uORB/topics/wind_estimate.h b/src/modules/uORB/topics/wind_estimate.h new file mode 100644 index 000000000..58333a64f --- /dev/null +++ b/src/modules/uORB/topics/wind_estimate.h @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 wind_estimate.h + * + * Wind estimate topic topic + * + */ + +#ifndef TOPIC_WIND_ESTIMATE_H +#define TOPIC_WIND_ESTIMATE_H + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** Wind estimate */ +struct wind_estimate_s { + + uint64_t timestamp; /**< Microseconds since system boot */ + float windspeed_north; /**< Wind component in north / X direction */ + float windspeed_east; /**< Wind component in east / Y direction */ + float covariance_north; /**< Uncertainty - set to zero (no uncertainty) if not estimated */ + float covariance_east; /**< Uncertainty - set to zero (no uncertainty) if not estimated */ +}; + +/** + * @} + */ + +ORB_DECLARE(wind_estimate); + +#endif
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