From b789e01a0f396cd934dfc07d8a5834333aabf51e Mon Sep 17 00:00:00 2001 From: samuezih Date: Fri, 14 Jun 2013 17:29:19 +0200 Subject: Add PX4Flow board modules and corresponding ORB msgs. --- src/modules/uORB/objects_common.cpp | 6 ++ src/modules/uORB/topics/filtered_bottom_flow.h | 74 ++++++++++++++++++++++ .../uORB/topics/vehicle_bodyframe_speed_setpoint.h | 69 ++++++++++++++++++++ 3 files changed, 149 insertions(+) create mode 100644 src/modules/uORB/topics/filtered_bottom_flow.h create mode 100644 src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h (limited to 'src/modules/uORB') diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 4197f6fb2..e22b58cad 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -101,6 +101,9 @@ ORB_DEFINE(vehicle_command, struct vehicle_command_s); #include "topics/vehicle_local_position_setpoint.h" ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s); +#include "topics/vehicle_bodyframe_speed_setpoint.h" +ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s); + #include "topics/vehicle_global_position_setpoint.h" ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s); @@ -119,6 +122,9 @@ 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/filtered_bottom_flow.h" +ORB_DEFINE(filtered_bottom_flow, struct filtered_bottom_flow_s); + #include "topics/omnidirectional_flow.h" ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s); diff --git a/src/modules/uORB/topics/filtered_bottom_flow.h b/src/modules/uORB/topics/filtered_bottom_flow.h new file mode 100644 index 000000000..ab6de2613 --- /dev/null +++ b/src/modules/uORB/topics/filtered_bottom_flow.h @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Samuel Zihlmann + * 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 filtered_bottom_flow.h + * Definition of the filtered bottom flow uORB topic. + */ + +#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_ +#define TOPIC_FILTERED_BOTTOM_FLOW_H_ + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Filtered bottom flow in bodyframe. + */ +struct filtered_bottom_flow_s +{ + uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ + + float sumx; /**< Integrated bodyframe x flow in meters */ + float sumy; /**< Integrated bodyframe y flow in meters */ + + float vx; /**< Flow bodyframe x speed, m/s */ + float vy; /**< Flow bodyframe y Speed, m/s */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(filtered_bottom_flow); + +#endif diff --git a/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h new file mode 100644 index 000000000..fbfab09f3 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_bodyframe_speed_setpoint.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Samuel Zihlmann + * 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_bodyframe_speed_setpoint.h + * Definition of the bodyframe speed setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_ +#define TOPIC_VEHICLE_BODYFRAME_SPEED_SETPOINT_H_ + +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct vehicle_bodyframe_speed_setpoint_s +{ + uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ + + float vx; /**< in m/s */ + float vy; /**< in m/s */ +// float vz; /**< in m/s */ + float thrust_sp; + float yaw_sp; /**< in radian -PI +PI */ +}; /**< Speed in bodyframe to go to */ + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_bodyframe_speed_setpoint); + +#endif -- cgit v1.2.3