From 13fc6703862862f4263d8d5d085b7a16b87190e1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 28 Apr 2013 09:54:11 +0200 Subject: Moved last libs, drivers and headers, cleaned up IO build --- src/modules/uORB/topics/omnidirectional_flow.h | 75 ++++++++++++++++++++++++++ 1 file changed, 75 insertions(+) create mode 100644 src/modules/uORB/topics/omnidirectional_flow.h (limited to 'src/modules/uORB/topics/omnidirectional_flow.h') diff --git a/src/modules/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h new file mode 100644 index 000000000..8f4be3b3f --- /dev/null +++ b/src/modules/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 -- cgit v1.2.3