forked from Archive/PX4-Autopilot
84 lines
3.1 KiB
C
84 lines
3.1 KiB
C
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file ardrone_control.c
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* Definition of the ardrone_control uORB topic.
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*/
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#ifndef TOPIC_ARDRONE_CONTROL_H_
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#define TOPIC_ARDRONE_CONTROL_H_
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#include <stdint.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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* @{
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*/
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struct ardrone_control_s
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{
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uint16_t counter; /**< incremented by the publishing thread everytime new data is stored. */
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uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data. */
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float setpoint_rate_cast[3];
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float setpoint_thrust_cast; /**< LOGME */
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float setpoint_attitude_rate[3];
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float setpoint_attitude[3]; /**< LOGME */
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float attitude_control_output[3]; /**< roll, pitch, yaw. */
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float position_control_output[3]; /**< x, y, z. */
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float attitude_setpoint_navigationframe_from_positioncontroller[3]; /**< LOGME */
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float gyro_scaled[3];
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float gyro_filtered[3];
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float gyro_filtered_offset[3];
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float zcompensation;
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uint16_t motor_front_nw;
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uint16_t motor_right_ne;
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uint16_t motor_back_se;
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uint16_t motor_left_sw;
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}; /**< ardrone control status */
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(ardrone_control);
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#endif /* TOPIC_ARDRONE_CONTROL_H_ */
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