From cb246a79cad96c469f29042dd33658d63cbcc743 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 5 Jun 2014 16:47:16 +0200
Subject: Added vision position estimate topic

---
 src/modules/uORB/objects_common.cpp                |  3 +
 src/modules/uORB/topics/vision_position_estimate.h | 82 ++++++++++++++++++++++
 2 files changed, 85 insertions(+)
 create mode 100644 src/modules/uORB/topics/vision_position_estimate.h

(limited to 'src/modules/uORB')

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 90675bb2e..fc9920a41 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -199,3 +199,6 @@ ORB_DEFINE(encoders, struct encoders_s);
 
 #include "topics/estimator_status.h"
 ORB_DEFINE(estimator_status, struct estimator_status_report);
+
+#include "topics/vision_position_estimate.h"
+ORB_DEFINE(vision_position_estimate, struct vision_position_estimate);
diff --git a/src/modules/uORB/topics/vision_position_estimate.h b/src/modules/uORB/topics/vision_position_estimate.h
new file mode 100644
index 000000000..74c96cf2e
--- /dev/null
+++ b/src/modules/uORB/topics/vision_position_estimate.h
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 vision_position_estimate.h
+ * Vision based position estimate
+ */
+
+#ifndef TOPIC_VISION_POSITION_ESTIMATE_H_
+#define TOPIC_VISION_POSITION_ESTIMATE_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Vision based position estimate in NED frame
+ */
+struct vision_position_estimate {
+
+	unsigned id;				/**< ID of the estimator, commonly the component ID of the incoming message */
+
+	uint64_t timestamp_boot;		/**< time of this estimate, in microseconds since system start */
+	uint64_t timestamp_computer;		/**< timestamp provided by the companion computer, in us */
+
+	float x;				/**< X position in meters in NED earth-fixed frame */
+	float y;				/**< Y position in meters in NED earth-fixed frame */
+	float z;				/**< Z position in meters in NED earth-fixed frame (negative altitude) */
+
+	float vx;				/**< X velocity in meters per second in NED earth-fixed frame */
+	float vy;				/**< Y velocity in meters per second in NED earth-fixed frame */
+	float vz;				/**< Z velocity in meters per second in NED earth-fixed frame */
+
+	float q[4];				/**< Estimated attitude as quaternion */
+
+	// XXX Add covariances here
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vision_position_estimate);
+
+#endif /* TOPIC_VISION_POSITION_ESTIMATE_H_ */
-- 
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