From 291f4f3a33e6428b23624b1ffe12fec1015816cd Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 19 Sep 2012 18:53:29 +0200 Subject: Reworked control interface, needs testing / validation --- apps/uORB/topics/vehicle_rates_setpoint.h | 69 +++++++++++++++++++++++++++++++ 1 file changed, 69 insertions(+) create mode 100644 apps/uORB/topics/vehicle_rates_setpoint.h (limited to 'apps/uORB/topics/vehicle_rates_setpoint.h') diff --git a/apps/uORB/topics/vehicle_rates_setpoint.h b/apps/uORB/topics/vehicle_rates_setpoint.h new file mode 100644 index 000000000..3400e5399 --- /dev/null +++ b/apps/uORB/topics/vehicle_rates_setpoint.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * 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_rates_setpoint.h + * Definition of the vehicle rates setpoint topic + */ + +#ifndef TOPIC_VEHICLE_RATES_SETPOINT_H_ +#define TOPIC_VEHICLE_RATES_SETPOINT_H_ + +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct vehicle_rates_setpoint_s +{ + uint64_t timestamp; /**< in microseconds since system start */ + + float roll; /**< body angular rates in NED frame */ + float pitch; /**< body angular rates in NED frame */ + float yaw; /**< body angular rates in NED frame */ + float thrust; /**< thrust normalized to 0..1 */ + +}; /**< vehicle_rates_setpoint */ + + /** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_rates_setpoint); + +#endif -- cgit v1.2.3