From ff4aec6588d6452812131b9275069ac2933543ff Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Jun 2014 15:34:27 +0200 Subject: wind estimate: added uORB topic --- src/modules/uORB/objects_common.cpp | 2 + src/modules/uORB/topics/wind_estimate.h | 68 +++++++++++++++++++++++++++++++++ 2 files changed, 70 insertions(+) create mode 100644 src/modules/uORB/topics/wind_estimate.h (limited to 'src') diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index bae46e14d..7c3bb0009 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -203,3 +203,5 @@ ORB_DEFINE(estimator_status, struct estimator_status_report); #include "topics/tecs_status.h" ORB_DEFINE(tecs_status, struct tecs_status_s); +#include "topics/wind_estimate.h" +ORB_DEFINE(wind_estimate, struct wind_estimate_s); diff --git a/src/modules/uORB/topics/wind_estimate.h b/src/modules/uORB/topics/wind_estimate.h new file mode 100644 index 000000000..58333a64f --- /dev/null +++ b/src/modules/uORB/topics/wind_estimate.h @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * 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 wind_estimate.h + * + * Wind estimate topic topic + * + */ + +#ifndef TOPIC_WIND_ESTIMATE_H +#define TOPIC_WIND_ESTIMATE_H + +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** Wind estimate */ +struct wind_estimate_s { + + uint64_t timestamp; /**< Microseconds since system boot */ + float windspeed_north; /**< Wind component in north / X direction */ + float windspeed_east; /**< Wind component in east / Y direction */ + float covariance_north; /**< Uncertainty - set to zero (no uncertainty) if not estimated */ + float covariance_east; /**< Uncertainty - set to zero (no uncertainty) if not estimated */ +}; + +/** + * @} + */ + +ORB_DECLARE(wind_estimate); + +#endif \ No newline at end of file -- cgit v1.2.3