From 16e49c447d788c73535a6dd36474673cbf9b8e4f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 9 Jan 2013 16:37:45 +0100 Subject: Added support for battery voltage and differential pressure to logging and plot script --- apps/uORB/objects_common.cpp | 6 +++ apps/uORB/topics/differential_pressure.h | 70 +++++++++++++++++++++++++++++ apps/uORB/topics/omnidirectional_flow.h | 75 ++++++++++++++++++++++++++++++++ apps/uORB/topics/optical_flow.h | 9 +--- 4 files changed, 153 insertions(+), 7 deletions(-) create mode 100644 apps/uORB/topics/differential_pressure.h create mode 100644 apps/uORB/topics/omnidirectional_flow.h (limited to 'apps/uORB') diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp index 2d249a47f..82893b3e9 100644 --- a/apps/uORB/objects_common.cpp +++ b/apps/uORB/objects_common.cpp @@ -113,6 +113,12 @@ ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s); #include "topics/optical_flow.h" ORB_DEFINE(optical_flow, struct optical_flow_s); +#include "topics/omnidirectional_flow.h" +ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s); + +#include "topics/differential_pressure.h" +ORB_DEFINE(differential_pressure, struct differential_pressure_s); + #include "topics/subsystem_info.h" ORB_DEFINE(subsystem_info, struct subsystem_info_s); diff --git a/apps/uORB/topics/differential_pressure.h b/apps/uORB/topics/differential_pressure.h new file mode 100644 index 000000000..fd7670cbc --- /dev/null +++ b/apps/uORB/topics/differential_pressure.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 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 differential_pressure.h + * + * Definition of differential pressure topic + */ + +#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_ +#define TOPIC_DIFFERENTIAL_PRESSURE_H_ + +#include "../uORB.h" +#include + +/** + * @addtogroup topics + * @{ + */ + +/** + * Battery voltages and status + */ +struct differential_pressure_s { + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + float static_pressure_mbar; /**< Static / environment pressure */ + float differential_pressure_mbar; /**< Differential pressure reading */ + float temperature_celcius; /**< ambient temperature in celcius, -1 if unknown */ + float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */ + float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(differential_pressure); + +#endif \ No newline at end of file diff --git a/apps/uORB/topics/omnidirectional_flow.h b/apps/uORB/topics/omnidirectional_flow.h new file mode 100644 index 000000000..8f4be3b3f --- /dev/null +++ b/apps/uORB/topics/omnidirectional_flow.h @@ -0,0 +1,75 @@ +/**************************************************************************** + * + * 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 optical_flow.h + * Definition of the optical flow uORB topic. + */ + +#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_ +#define TOPIC_OMNIDIRECTIONAL_FLOW_H_ + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +/** + * Omnidirectional optical flow in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct omnidirectional_flow_s { + + uint64_t timestamp; /**< in microseconds since system start */ + + uint16_t left[10]; /**< Left flow, in decipixels */ + uint16_t right[10]; /**< Right flow, in decipixels */ + float front_distance_m; /**< Altitude / distance to object front in meters */ + uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(omnidirectional_flow); + +#endif diff --git a/apps/uORB/topics/optical_flow.h b/apps/uORB/topics/optical_flow.h index 24f842825..c854f0079 100644 --- a/apps/uORB/topics/optical_flow.h +++ b/apps/uORB/topics/optical_flow.h @@ -55,11 +55,6 @@ */ struct optical_flow_s { - /* - * Actual data, this is specific to the type of data which is stored in this struct - * A line containing L0GME will be added by the Python logging code generator to the - * logged dataset. - */ uint64_t timestamp; /**< in microseconds since system start */ uint16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ @@ -67,8 +62,8 @@ struct optical_flow_s { float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ float ground_distance_m; /**< Altitude / distance to ground in meters */ - uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ - uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint8_t sensor_id; /**< id of the sensor emitting the flow value */ }; -- cgit v1.2.3