ardupilot/libraries/AP_MSP/msp_sensors.h

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1.8 KiB
C
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#include <stdint.h>
namespace MSP
{
// src/main/msp/msp_protocol_v2_sensor_msg.h
typedef struct PACKED {
uint8_t quality; // [0;255]
int32_t distance_mm; // Negative value for out of range
} msp_rangefinder_data_message_t;
typedef struct PACKED {
uint8_t quality; // [0;255]
int32_t motion_x;
int32_t motion_y;
} msp_opflow_data_message_t;
typedef struct PACKED {
uint8_t instance; // sensor instance number to support multi-sensor setups
uint16_t gps_week; // GPS week, 0xFFFF if not available
uint32_t ms_tow;
uint8_t fix_type;
uint8_t satellites_in_view;
uint16_t horizontal_pos_accuracy; // [cm]
uint16_t vertical_pos_accuracy; // [cm]
uint16_t horizontal_vel_accuracy; // [cm/s]
uint16_t hdop;
int32_t longitude;
int32_t latitude;
int32_t msl_altitude; // cm
int32_t ned_vel_north; // cm/s
int32_t ned_vel_east;
int32_t ned_vel_down;
uint16_t ground_course; // deg * 100, 0..36000
uint16_t true_yaw; // deg * 100, values of 0..36000 are valid. 65535 = no data available
uint16_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint8_t min;
uint8_t sec;
} msp_gps_data_message_t;
typedef struct PACKED {
uint8_t instance;
uint32_t time_ms;
float pressure_pa;
int16_t temp; // centi-degrees C
} msp_baro_data_message_t;
typedef struct PACKED {
uint8_t instance;
uint32_t time_ms;
int16_t magX; // mGauss, front
int16_t magY; // mGauss, right
int16_t magZ; // mGauss, down
} msp_compass_data_message_t;
typedef struct PACKED {
uint8_t instance;
uint32_t time_ms;
float pressure;
int16_t temp; // centi-degrees C
} msp_airspeed_data_message_t;
}