From 56ac13aafbbf3e9875e9c17f82f687a2690033da Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 24 May 2014 18:04:38 +0200
Subject: introduce tecs status uorb message

---
 src/modules/uORB/Publication.cpp      |  2 +
 src/modules/uORB/objects_common.cpp   |  4 ++
 src/modules/uORB/topics/tecs_status.h | 81 +++++++++++++++++++++++++++++++++++
 3 files changed, 87 insertions(+)
 create mode 100644 src/modules/uORB/topics/tecs_status.h

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/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 90675bb2e..bae46e14d 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -199,3 +199,7 @@ ORB_DEFINE(encoders, struct encoders_s);
 
 #include "topics/estimator_status.h"
 ORB_DEFINE(estimator_status, struct estimator_status_report);
+
+#include "topics/tecs_status.h"
+ORB_DEFINE(tecs_status, struct tecs_status_s);
+
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
new file mode 100644
index 000000000..f3d33ec20
--- /dev/null
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   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
+ * @{
+ */
+
+ /**
+ * 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 airspeedSp;
+	float airspeed;
+	float airspeedDerivativeSp;
+	float airspeedDerivative;
+
+	float totalEnergyRateSp;
+	float totalEnergyRate;
+	float energyDistributionRateSp;
+	float energyDistributionRate;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(tecs_status);
+
+#endif
-- 
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