forked from Archive/PX4-Autopilot
Merge branch 'release_v1.0.0'
This commit is contained in:
Lorenz Meier
commit
2903ceaacc
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@ -0,0 +1,8 @@
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# Filtered bottom flow in bodyframe.
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uint64 timestamp # time of this estimate, in microseconds since system start
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float32 sumx # Integrated bodyframe x flow in meters
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float32 sumy # Integrated bodyframe y flow in meters
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float32 vx # Flow bodyframe x speed, m/s
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float32 vy # Flow bodyframe y Speed, m/s
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@ -0,0 +1,10 @@
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# GPS home position in WGS84 coordinates.
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uint64 timestamp # Timestamp (microseconds since system boot)
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float64 lat # Latitude in degrees
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float64 lon # Longitude in degrees
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float32 alt # Altitude in meters (AMSL)
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float32 x # X coordinate in meters
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float32 y # Y coordinate in meters
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float32 z # Z coordinate in meters
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@ -0,0 +1,17 @@
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# Optical flow in NED body frame in SI units.
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# @see http://en.wikipedia.org/wiki/International_System_of_Units
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uint64 timestamp # in microseconds since system start
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uint8 sensor_id # id of the sensor emitting the flow value
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float32 pixel_flow_x_integral # accumulated optical flow in radians around x axis
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float32 pixel_flow_y_integral # accumulated optical flow in radians around y axis
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float32 gyro_x_rate_integral # accumulated gyro value in radians around x axis
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float32 gyro_y_rate_integral # accumulated gyro value in radians around y axis
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float32 gyro_z_rate_integral # accumulated gyro value in radians around z axis
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float32 ground_distance_m # Altitude / distance to ground in meters
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uint32 integration_timespan # accumulation timespan in microseconds
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uint32 time_since_last_sonar_update # time since last sonar update in microseconds
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uint16 frame_count_since_last_readout # number of accumulated frames in timespan
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int16 gyro_temperature # Temperature * 100 in centi-degrees Celsius
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uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
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@ -0,0 +1,13 @@
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int16 RANGE_FINDER_TYPE_LASER = 0
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# range finder report structure. Reads from the device must be in multiples of this
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# structure.
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uint64 timestamp
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uint64 error_count
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uint16 type # type, following RANGE_FINDER_TYPE enum
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float32 distance # in meters
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float32 minimum_distance # minimum distance the sensor can measure
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float32 maximum_distance # maximum distance the sensor can measure
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uint8 valid # 1 == within sensor range, 0 = outside sensor range
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float32[12] distance_vector # in meters length should match MB12XX_MAX_RANGEFINDERS
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uint8 just_updated # number of the most recent measurement sensor
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@ -0,0 +1,100 @@
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# Definition of the sensor_combined uORB topic.
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int32 MAGNETOMETER_MODE_NORMAL = 0
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int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
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int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
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# Sensor readings in raw and SI-unit form.
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#
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# These values are read from the sensors. Raw values are in sensor-specific units,
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# the scaled values are in SI-units, as visible from the ending of the variable
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# or the comments. The use of the SI fields is in general advised, as these fields
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# are scaled and offset-compensated where possible and do not change with board
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# revisions and sensor updates.
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#
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# Actual data, this is specific to the type of data which is stored in this struct
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# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
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#
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# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
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|
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uint64 timestamp # Timestamp in microseconds since boot, from gyro
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#
|
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int16[3] gyro_raw # Raw sensor values of angular velocity
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float32[3] gyro_rad_s # Angular velocity in radian per seconds
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uint32 gyro_errcount # Error counter for gyro 0
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float32 gyro_temp # Temperature of gyro 0
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|
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int16[3] accelerometer_raw # Raw acceleration in NED body frame
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float32[3] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2
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int16 accelerometer_mode # Accelerometer measurement mode
|
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float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2
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uint64 accelerometer_timestamp # Accelerometer timestamp
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uint32 accelerometer_errcount # Error counter for accel 0
|
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float32 accelerometer_temp # Temperature of accel 0
|
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|
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int16[3] magnetometer_raw # Raw magnetic field in NED body frame
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float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
|
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int16 magnetometer_mode # Magnetometer measurement mode
|
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float32 magnetometer_range_ga # measurement range in Gauss
|
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float32 magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor
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uint64 magnetometer_timestamp # Magnetometer timestamp
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uint32 magnetometer_errcount # Error counter for mag 0
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float32 magnetometer_temp # Temperature of mag 0
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|
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int16[3] gyro1_raw # Raw sensor values of angular velocity
|
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float32[3] gyro1_rad_s # Angular velocity in radian per seconds
|
||||
uint64 gyro1_timestamp # Gyro timestamp
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uint32 gyro1_errcount # Error counter for gyro 1
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float32 gyro1_temp # Temperature of gyro 1
|
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|
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int16[3] accelerometer1_raw # Raw acceleration in NED body frame
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float32[3] accelerometer1_m_s2 # Acceleration in NED body frame, in m/s^2
|
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uint64 accelerometer1_timestamp # Accelerometer timestamp
|
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uint32 accelerometer1_errcount # Error counter for accel 1
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float32 accelerometer1_temp # Temperature of accel 1
|
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|
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int16[3] magnetometer1_raw # Raw magnetic field in NED body frame
|
||||
float32[3] magnetometer1_ga # Magnetic field in NED body frame, in Gauss
|
||||
uint64 magnetometer1_timestamp # Magnetometer timestamp
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uint32 magnetometer1_errcount # Error counter for mag 1
|
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float32 magnetometer1_temp # Temperature of mag 1
|
||||
|
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int16[3] gyro2_raw # Raw sensor values of angular velocity
|
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float32[3] gyro2_rad_s # Angular velocity in radian per seconds
|
||||
uint64 gyro2_timestamp # Gyro timestamp
|
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uint32 gyro2_errcount # Error counter for gyro 1
|
||||
float32 gyro2_temp # Temperature of gyro 1
|
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|
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int16[3] accelerometer2_raw # Raw acceleration in NED body frame
|
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float32[3] accelerometer2_m_s2 # Acceleration in NED body frame, in m/s^2
|
||||
uint64 accelerometer2_timestamp # Accelerometer timestamp
|
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uint32 accelerometer2_errcount # Error counter for accel 2
|
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float32 accelerometer2_temp # Temperature of accel 2
|
||||
|
||||
int16[3] magnetometer2_raw # Raw magnetic field in NED body frame
|
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float32[3] magnetometer2_ga # Magnetic field in NED body frame, in Gauss
|
||||
uint64 magnetometer2_timestamp # Magnetometer timestamp
|
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uint32 magnetometer2_errcount # Error counter for mag 2
|
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float32 magnetometer2_temp # Temperature of mag 2
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|
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float32 baro_pres_mbar # Barometric pressure, already temp. comp.
|
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float32 baro_alt_meter # Altitude, already temp. comp.
|
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float32 baro_temp_celcius # Temperature in degrees celsius
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uint64 baro_timestamp # Barometer timestamp
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|
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float32 baro1_pres_mbar # Barometric pressure, already temp. comp.
|
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float32 baro1_alt_meter # Altitude, already temp. comp.
|
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float32 baro1_temp_celcius # Temperature in degrees celsius
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uint64 baro1_timestamp # Barometer timestamp
|
||||
|
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float32[10] adc_voltage_v # ADC voltages of ADC Chan 10/11/12/13 or -1
|
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uint16[10] adc_mapping # Channel indices of each of these values
|
||||
float32 mcu_temp_celcius # Internal temperature measurement of MCU
|
||||
|
||||
float32 differential_pressure_pa # Airspeed sensor differential pressure
|
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uint64 differential_pressure_timestamp # Last measurement timestamp
|
||||
float32 differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
|
||||
|
||||
float32 differential_pressure1_pa # Airspeed sensor differential pressure
|
||||
uint64 differential_pressure1_timestamp # Last measurement timestamp
|
||||
float32 differential_pressure1_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
# Fused global position in WGS84.
|
||||
# This struct contains global position estimation. It is not the raw GPS
|
||||
# measurement (@see vehicle_gps_position). This topic is usually published by the position
|
||||
# estimator, which will take more sources of information into account than just GPS,
|
||||
# e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
#
|
||||
uint64 timestamp # Time of this estimate, in microseconds since system start
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||||
uint64 time_utc_usec # GPS UTC timestamp in microseconds
|
||||
float64 lat # Latitude in degrees
|
||||
float64 lon # Longitude in degrees
|
||||
float32 alt # Altitude AMSL in meters
|
||||
float32 vel_n # Ground north velocity, m/s
|
||||
float32 vel_e # Ground east velocity, m/s
|
||||
float32 vel_d # Ground downside velocity, m/s
|
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float32 yaw # Yaw in radians -PI..+PI.
|
||||
float32 eph # Standard deviation of position estimate horizontally
|
||||
float32 epv # Standard deviation of position vertically
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float32 terrain_alt # Terrain altitude in m, WGS84
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||||
bool terrain_alt_valid # Terrain altitude estimate is valid
|
||||
bool dead_reckoning # True if this position is estimated through dead-reckoning
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|
|
@ -0,0 +1,29 @@
|
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# GPS position in WGS84 coordinates.
|
||||
uint64 timestamp_position # Timestamp for position information
|
||||
int32 lat # Latitude in 1E-7 degrees
|
||||
int32 lon # Longitude in 1E-7 degrees
|
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int32 alt # Altitude in 1E-3 meters (millimeters) above MSL
|
||||
|
||||
uint64 timestamp_variance
|
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float32 s_variance_m_s # speed accuracy estimate m/s
|
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float32 c_variance_rad # course accuracy estimate rad
|
||||
uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
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||||
|
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float32 eph # GPS HDOP horizontal dilution of position in m
|
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float32 epv # GPS VDOP horizontal dilution of position in m
|
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|
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int32 noise_per_ms # GPS noise per millisecond
|
||||
int32 jamming_indicator # indicates jamming is occurring
|
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|
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uint64 timestamp_velocity # Timestamp for velocity informations
|
||||
float32 vel_m_s # GPS ground speed (m/s)
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float32 vel_n_m_s # GPS ground speed in m/s
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float32 vel_e_m_s # GPS ground speed in m/s
|
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float32 vel_d_m_s # GPS ground speed in m/s
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float32 cog_rad # Course over ground (NOT heading, but direction of movement) in rad, -PI..PI
|
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bool vel_ned_valid # Flag to indicate if NED speed is valid
|
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|
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uint64 timestamp_time # Timestamp for time information
|
||||
uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
|
||||
|
||||
uint8 satellites_used # Number of satellites used
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|
@ -48,39 +48,14 @@
|
|||
#define RANGE_FINDER0_DEVICE_PATH "/dev/range_finder0"
|
||||
#define MB12XX_MAX_RANGEFINDERS 12 //Maximum number of RangeFinders that can be connected
|
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|
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enum RANGE_FINDER_TYPE {
|
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RANGE_FINDER_TYPE_LASER = 0,
|
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};
|
||||
#define range_finder_report range_finder_s
|
||||
#define __orb_sensor_range_finder __orb_range_finder
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
#include <uORB/topics/range_finder.h>
|
||||
|
||||
/**
|
||||
* range finder report structure. Reads from the device must be in multiples of this
|
||||
* structure.
|
||||
*/
|
||||
struct range_finder_report {
|
||||
uint64_t timestamp;
|
||||
uint64_t error_count;
|
||||
unsigned type; /**< type, following RANGE_FINDER_TYPE enum */
|
||||
float distance; /**< in meters */
|
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float minimum_distance; /**< minimum distance the sensor can measure */
|
||||
float maximum_distance; /**< maximum distance the sensor can measure */
|
||||
uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */
|
||||
float distance_vector[MB12XX_MAX_RANGEFINDERS]; /** in meters */
|
||||
uint8_t just_updated; /** number of the most recent measurement sensor */
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/*
|
||||
* ObjDev tag for raw range finder data.
|
||||
*/
|
||||
ORB_DECLARE(sensor_range_finder);
|
||||
#ifndef RANGE_FINDER_TYPE_LASER
|
||||
#define RANGE_FINDER_TYPE_LASER 0
|
||||
#endif
|
||||
|
||||
/*
|
||||
* ioctl() definitions
|
||||
|
|
|
|||
|
|
@ -260,17 +260,21 @@ SF0X::~SF0X()
|
|||
int
|
||||
SF0X::init()
|
||||
{
|
||||
/* status */
|
||||
int ret = 0;
|
||||
|
||||
do { /* create a scope to handle exit conditions using break */
|
||||
|
||||
/* do regular cdev init */
|
||||
if (CDev::init() != OK) {
|
||||
goto out;
|
||||
}
|
||||
ret = CDev::init();
|
||||
if (ret != OK) break;
|
||||
|
||||
/* allocate basic report buffers */
|
||||
_reports = new RingBuffer(2, sizeof(range_finder_report));
|
||||
|
||||
if (_reports == nullptr) {
|
||||
warnx("mem err");
|
||||
goto out;
|
||||
ret = -1;
|
||||
break;
|
||||
}
|
||||
|
||||
/* get a publish handle on the range finder topic */
|
||||
|
|
@ -281,11 +285,12 @@ SF0X::init()
|
|||
if (_range_finder_topic < 0) {
|
||||
warnx("advert err");
|
||||
}
|
||||
} while(0);
|
||||
|
||||
/* close the fd */
|
||||
::close(_fd);
|
||||
_fd = -1;
|
||||
out:
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -45,6 +45,7 @@ class __EXPORT ListNode
|
|||
public:
|
||||
ListNode() : _sibling(nullptr) {
|
||||
}
|
||||
virtual ~ListNode() {};
|
||||
void setSibling(T sibling) { _sibling = sibling; }
|
||||
T getSibling() { return _sibling; }
|
||||
T get() {
|
||||
|
|
@ -52,6 +53,11 @@ public:
|
|||
}
|
||||
protected:
|
||||
T _sibling;
|
||||
private:
|
||||
// forbid copy
|
||||
ListNode(const ListNode& other);
|
||||
// forbid assignment
|
||||
ListNode & operator = (const ListNode &);
|
||||
};
|
||||
|
||||
template<class T>
|
||||
|
|
@ -60,12 +66,18 @@ class __EXPORT List
|
|||
public:
|
||||
List() : _head() {
|
||||
}
|
||||
virtual ~List() {};
|
||||
void add(T newNode) {
|
||||
newNode->setSibling(getHead());
|
||||
setHead(newNode);
|
||||
}
|
||||
T getHead() { return _head; }
|
||||
private:
|
||||
protected:
|
||||
void setHead(T &head) { _head = head; }
|
||||
T _head;
|
||||
private:
|
||||
// forbid copy
|
||||
List(const List& other);
|
||||
// forbid assignment
|
||||
List& operator = (const List &);
|
||||
};
|
||||
|
|
|
|||
|
|
@ -570,6 +570,12 @@ int do_level_calibration(int mavlink_fd) {
|
|||
param_t roll_offset_handler = param_find("SENS_BOARD_X_OFF");
|
||||
param_t pitch_offset_handler = param_find("SENS_BOARD_Y_OFF");
|
||||
|
||||
// save old values if calibration fails
|
||||
float roll_offset_current;
|
||||
float pitch_offset_current;
|
||||
param_get(roll_offset_handler, &roll_offset_current);
|
||||
param_get(pitch_offset_handler, &pitch_offset_current);
|
||||
|
||||
float zero = 0.0f;
|
||||
param_set(roll_offset_handler, &zero);
|
||||
param_set(pitch_offset_handler, &zero);
|
||||
|
|
@ -602,28 +608,34 @@ int do_level_calibration(int mavlink_fd) {
|
|||
|
||||
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 100);
|
||||
|
||||
bool success = false;
|
||||
if (counter > (cal_time * cal_hz / 2 )) {
|
||||
roll_mean /= counter;
|
||||
pitch_mean /= counter;
|
||||
} else {
|
||||
mavlink_and_console_log_info(mavlink_fd, "not enough measurements taken");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (fabsf(roll_mean) > 0.8f ) {
|
||||
mavlink_and_console_log_critical(mavlink_fd, "excess roll angle");
|
||||
return 1;
|
||||
} else if (fabsf(pitch_mean) > 0.8f ) {
|
||||
mavlink_and_console_log_critical(mavlink_fd, "excess pitch angle");
|
||||
return 1;
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
roll_mean *= (float)M_RAD_TO_DEG;
|
||||
pitch_mean *= (float)M_RAD_TO_DEG;
|
||||
param_set(roll_offset_handler, &roll_mean);
|
||||
param_set(pitch_offset_handler, &pitch_mean);
|
||||
success = true;
|
||||
}
|
||||
|
||||
if (success) {
|
||||
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "level");
|
||||
return 0;
|
||||
|
||||
} else {
|
||||
// set old parameters
|
||||
param_set(roll_offset_handler, &roll_offset_current);
|
||||
param_set(pitch_offset_handler, &pitch_offset_current);
|
||||
mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "level");
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -208,4 +208,9 @@ void SuperBlock::updateChildPublications()
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
} // namespace control
|
||||
|
||||
template class List<uORB::SubscriptionNode *>;
|
||||
template class List<uORB::PublicationNode *>;
|
||||
template class List<control::BlockParamBase *>;
|
||||
|
|
|
|||
|
|
@ -43,12 +43,9 @@
|
|||
#include <inttypes.h>
|
||||
|
||||
#include <containers/List.hpp>
|
||||
|
||||
// forward declaration
|
||||
namespace uORB {
|
||||
class SubscriptionNode;
|
||||
class PublicationNode;
|
||||
}
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <controllib/block/BlockParam.hpp>
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
|
@ -60,8 +57,8 @@ static const uint16_t maxPublicationsPerBlock = 100;
|
|||
static const uint8_t blockNameLengthMax = 80;
|
||||
|
||||
// forward declaration
|
||||
class BlockParamBase;
|
||||
class SuperBlock;
|
||||
class BlockParamBase;
|
||||
|
||||
/**
|
||||
*/
|
||||
|
|
@ -137,4 +134,5 @@ protected:
|
|||
List<Block *> _children;
|
||||
};
|
||||
|
||||
|
||||
} // namespace control
|
||||
|
|
|
|||
|
|
@ -43,6 +43,8 @@
|
|||
|
||||
#include "BlockParam.hpp"
|
||||
|
||||
#include <containers/List.hpp>
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
|
|
|
|||
|
|
@ -47,6 +47,8 @@
|
|||
namespace control
|
||||
{
|
||||
|
||||
class Block;
|
||||
|
||||
/**
|
||||
* A base class for block params that enables traversing linked list.
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -38,6 +38,7 @@
|
|||
*/
|
||||
|
||||
#include "blocks.hpp"
|
||||
#include <geo/geo.h>
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
|
|
|||
|
|
@ -61,10 +61,6 @@
|
|||
#include <drivers/drv_hrt.h>
|
||||
#include <poll.h>
|
||||
|
||||
extern "C" {
|
||||
#include <geo/geo.h>
|
||||
}
|
||||
|
||||
#include "../blocks.hpp"
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
|
|
|
|||
|
|
@ -2070,35 +2070,25 @@ Sensors::task_main()
|
|||
{
|
||||
|
||||
/* start individual sensors */
|
||||
int ret;
|
||||
int ret = 0;
|
||||
do { /* create a scope to handle exit with break */
|
||||
ret = accel_init();
|
||||
|
||||
if (ret) {
|
||||
goto exit_immediate;
|
||||
}
|
||||
|
||||
if (ret) break;
|
||||
ret = gyro_init();
|
||||
|
||||
if (ret) {
|
||||
goto exit_immediate;
|
||||
}
|
||||
|
||||
if (ret) break;
|
||||
ret = mag_init();
|
||||
|
||||
if (ret) {
|
||||
goto exit_immediate;
|
||||
}
|
||||
|
||||
if (ret) break;
|
||||
ret = baro_init();
|
||||
|
||||
if (ret) {
|
||||
goto exit_immediate;
|
||||
}
|
||||
|
||||
if (ret) break;
|
||||
ret = adc_init();
|
||||
if (ret) break;
|
||||
break;
|
||||
} while (0);
|
||||
|
||||
if (ret) {
|
||||
goto exit_immediate;
|
||||
_sensors_task = -1;
|
||||
_exit(ret);
|
||||
return;
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
@ -2241,8 +2231,6 @@ Sensors::task_main()
|
|||
}
|
||||
|
||||
warnx("exiting.");
|
||||
|
||||
exit_immediate:
|
||||
_sensors_task = -1;
|
||||
px4_task_exit(ret);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -69,6 +69,14 @@ void * Publication<T>::getDataVoidPtr() {
|
|||
return (void *)(T *)(this);
|
||||
}
|
||||
|
||||
|
||||
PublicationNode::PublicationNode(const struct orb_metadata *meta,
|
||||
List<PublicationNode *> * list) :
|
||||
PublicationBase(meta) {
|
||||
if (list != nullptr) list->add(this);
|
||||
}
|
||||
|
||||
|
||||
template class __EXPORT Publication<vehicle_attitude_s>;
|
||||
template class __EXPORT Publication<vehicle_local_position_s>;
|
||||
template class __EXPORT Publication<vehicle_global_position_s>;
|
||||
|
|
|
|||
|
|
@ -94,6 +94,11 @@ protected:
|
|||
// attributes
|
||||
const struct orb_metadata *_meta;
|
||||
orb_advert_t _handle;
|
||||
private:
|
||||
// forbid copy
|
||||
PublicationBase(const PublicationBase&) : _meta(), _handle() {};
|
||||
// forbid assignment
|
||||
PublicationBase& operator = (const PublicationBase &);
|
||||
};
|
||||
|
||||
/**
|
||||
|
|
@ -120,10 +125,7 @@ public:
|
|||
* that this should be appended to.
|
||||
*/
|
||||
PublicationNode(const struct orb_metadata *meta,
|
||||
List<PublicationNode *> * list=nullptr) :
|
||||
PublicationBase(meta) {
|
||||
if (list != nullptr) list->add(this);
|
||||
}
|
||||
List<PublicationNode *> * list=nullptr);
|
||||
|
||||
/**
|
||||
* This function is the callback for list traversal
|
||||
|
|
@ -136,7 +138,7 @@ public:
|
|||
* Publication wrapper class
|
||||
*/
|
||||
template<class T>
|
||||
class Publication :
|
||||
class __EXPORT Publication :
|
||||
public T, // this must be first!
|
||||
public PublicationNode
|
||||
{
|
||||
|
|
|
|||
|
|
@ -53,6 +53,8 @@
|
|||
#include "topics/vehicle_attitude_setpoint.h"
|
||||
#include "topics/vehicle_rates_setpoint.h"
|
||||
#include "topics/rc_channels.h"
|
||||
#include "topics/vehicle_control_mode.h"
|
||||
#include "topics/actuator_armed.h"
|
||||
|
||||
namespace uORB
|
||||
{
|
||||
|
|
|
|||
|
|
@ -106,6 +106,11 @@ protected:
|
|||
// attributes
|
||||
const struct orb_metadata *_meta;
|
||||
int _handle;
|
||||
private:
|
||||
// forbid copy
|
||||
SubscriptionBase(const SubscriptionBase& other);
|
||||
// forbid assignment
|
||||
SubscriptionBase& operator = (const SubscriptionBase &);
|
||||
};
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1,73 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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 <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#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
|
||||
|
|
@ -1,77 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
*
|
||||
* 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 home_position.h
|
||||
* Definition of the home position uORB topic.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_HOME_POSITION_H_
|
||||
#define TOPIC_HOME_POSITION_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* GPS home position in WGS84 coordinates.
|
||||
*/
|
||||
struct home_position_s {
|
||||
uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
|
||||
|
||||
double lat; /**< Latitude in degrees */
|
||||
double lon; /**< Longitude in degrees */
|
||||
float alt; /**< Altitude in meters (AMSL) */
|
||||
|
||||
float x; /**< X coordinate in meters */
|
||||
float y; /**< Y coordinate in meters */
|
||||
float z; /**< Z coordinate in meters */
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(home_position);
|
||||
|
||||
#endif
|
||||
|
|
@ -1,84 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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 optical_flow.h
|
||||
* Definition of the optical flow uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_OPTICAL_FLOW_H_
|
||||
#define TOPIC_OPTICAL_FLOW_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
*/
|
||||
|
||||
/**
|
||||
* Optical flow in NED body frame in SI units.
|
||||
*
|
||||
* @see http://en.wikipedia.org/wiki/International_System_of_Units
|
||||
*/
|
||||
struct optical_flow_s {
|
||||
|
||||
uint64_t timestamp; /**< in microseconds since system start */
|
||||
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
|
||||
float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
|
||||
float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
|
||||
float gyro_x_rate_integral; /**< accumulated gyro value in radians around x axis */
|
||||
float gyro_y_rate_integral; /**< accumulated gyro value in radians around y axis */
|
||||
float gyro_z_rate_integral; /**< accumulated gyro value in radians around z axis */
|
||||
float ground_distance_m; /**< Altitude / distance to ground in meters */
|
||||
uint32_t integration_timespan; /**<accumulation timespan in microseconds */
|
||||
uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
|
||||
uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
|
||||
int16_t gyro_temperature;/**< Temperature * 100 in centi-degrees Celsius */
|
||||
uint8_t quality; /**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(optical_flow);
|
||||
|
||||
#endif
|
||||
|
|
@ -1,172 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 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 sensor_combined.h
|
||||
* Definition of the sensor_combined uORB topic.
|
||||
*
|
||||
* @author Thomas Gubler <thomas@px4.io>
|
||||
* @author Julian Oes <julian@px4.io>
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
*/
|
||||
|
||||
#ifndef SENSOR_COMBINED_H_
|
||||
#define SENSOR_COMBINED_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
enum MAGNETOMETER_MODE {
|
||||
MAGNETOMETER_MODE_NORMAL = 0,
|
||||
MAGNETOMETER_MODE_POSITIVE_BIAS,
|
||||
MAGNETOMETER_MODE_NEGATIVE_BIAS
|
||||
};
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Sensor readings in raw and SI-unit form.
|
||||
*
|
||||
* These values are read from the sensors. Raw values are in sensor-specific units,
|
||||
* the scaled values are in SI-units, as visible from the ending of the variable
|
||||
* or the comments. The use of the SI fields is in general advised, as these fields
|
||||
* are scaled and offset-compensated where possible and do not change with board
|
||||
* revisions and sensor updates.
|
||||
*
|
||||
*/
|
||||
struct sensor_combined_s {
|
||||
|
||||
/*
|
||||
* Actual data, this is specific to the type of data which is stored in this struct
|
||||
* A line containing L0GME will be added by the Python logging code generator to the
|
||||
* logged dataset.
|
||||
*/
|
||||
|
||||
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
|
||||
|
||||
uint64_t timestamp; /**< Timestamp in microseconds since boot, from gyro */
|
||||
|
||||
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
|
||||
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
|
||||
unsigned gyro_errcount; /**< Error counter for gyro 0 */
|
||||
float gyro_temp; /**< Temperature of gyro 0 */
|
||||
|
||||
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
|
||||
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
|
||||
int accelerometer_mode; /**< Accelerometer measurement mode */
|
||||
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
|
||||
uint64_t accelerometer_timestamp; /**< Accelerometer timestamp */
|
||||
unsigned accelerometer_errcount; /**< Error counter for accel 0 */
|
||||
float accelerometer_temp; /**< Temperature of accel 0 */
|
||||
|
||||
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
|
||||
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
|
||||
int magnetometer_mode; /**< Magnetometer measurement mode */
|
||||
float magnetometer_range_ga; /**< ± measurement range in Gauss */
|
||||
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
|
||||
uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */
|
||||
unsigned magnetometer_errcount; /**< Error counter for mag 0 */
|
||||
float magnetometer_temp; /**< Temperature of mag 0 */
|
||||
|
||||
int16_t gyro1_raw[3]; /**< Raw sensor values of angular velocity */
|
||||
float gyro1_rad_s[3]; /**< Angular velocity in radian per seconds */
|
||||
uint64_t gyro1_timestamp; /**< Gyro timestamp */
|
||||
unsigned gyro1_errcount; /**< Error counter for gyro 1 */
|
||||
float gyro1_temp; /**< Temperature of gyro 1 */
|
||||
|
||||
int16_t accelerometer1_raw[3]; /**< Raw acceleration in NED body frame */
|
||||
float accelerometer1_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
|
||||
uint64_t accelerometer1_timestamp; /**< Accelerometer timestamp */
|
||||
unsigned accelerometer1_errcount; /**< Error counter for accel 1 */
|
||||
float accelerometer1_temp; /**< Temperature of accel 1 */
|
||||
|
||||
int16_t magnetometer1_raw[3]; /**< Raw magnetic field in NED body frame */
|
||||
float magnetometer1_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
|
||||
uint64_t magnetometer1_timestamp; /**< Magnetometer timestamp */
|
||||
unsigned magnetometer1_errcount; /**< Error counter for mag 1 */
|
||||
float magnetometer1_temp; /**< Temperature of mag 1 */
|
||||
|
||||
int16_t gyro2_raw[3]; /**< Raw sensor values of angular velocity */
|
||||
float gyro2_rad_s[3]; /**< Angular velocity in radian per seconds */
|
||||
uint64_t gyro2_timestamp; /**< Gyro timestamp */
|
||||
unsigned gyro2_errcount; /**< Error counter for gyro 1 */
|
||||
float gyro2_temp; /**< Temperature of gyro 1 */
|
||||
|
||||
int16_t accelerometer2_raw[3]; /**< Raw acceleration in NED body frame */
|
||||
float accelerometer2_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
|
||||
uint64_t accelerometer2_timestamp; /**< Accelerometer timestamp */
|
||||
unsigned accelerometer2_errcount; /**< Error counter for accel 2 */
|
||||
float accelerometer2_temp; /**< Temperature of accel 2 */
|
||||
|
||||
int16_t magnetometer2_raw[3]; /**< Raw magnetic field in NED body frame */
|
||||
float magnetometer2_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
|
||||
uint64_t magnetometer2_timestamp; /**< Magnetometer timestamp */
|
||||
unsigned magnetometer2_errcount; /**< Error counter for mag 2 */
|
||||
float magnetometer2_temp; /**< Temperature of mag 2 */
|
||||
|
||||
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
|
||||
float baro_alt_meter; /**< Altitude, already temp. comp. */
|
||||
float baro_temp_celcius; /**< Temperature in degrees celsius */
|
||||
uint64_t baro_timestamp; /**< Barometer timestamp */
|
||||
|
||||
float baro1_pres_mbar; /**< Barometric pressure, already temp. comp. */
|
||||
float baro1_alt_meter; /**< Altitude, already temp. comp. */
|
||||
float baro1_temp_celcius; /**< Temperature in degrees celsius */
|
||||
uint64_t baro1_timestamp; /**< Barometer timestamp */
|
||||
|
||||
float adc_voltage_v[10]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
|
||||
unsigned adc_mapping[10]; /**< Channel indices of each of these values */
|
||||
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
|
||||
|
||||
float differential_pressure_pa; /**< Airspeed sensor differential pressure */
|
||||
uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */
|
||||
float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
|
||||
|
||||
float differential_pressure1_pa; /**< Airspeed sensor differential pressure */
|
||||
uint64_t differential_pressure1_timestamp; /**< Last measurement timestamp */
|
||||
float differential_pressure1_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(sensor_combined);
|
||||
|
||||
#endif
|
||||
|
|
@ -1,87 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 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 vehicle_global_position.h
|
||||
* Definition of the global fused WGS84 position uORB topic.
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#ifndef VEHICLE_GLOBAL_POSITION_T_H_
|
||||
#define VEHICLE_GLOBAL_POSITION_T_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <platforms/px4_defines.h>
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Fused global position in WGS84.
|
||||
*
|
||||
* This struct contains global position estimation. It is not the raw GPS
|
||||
* measurement (@see vehicle_gps_position). This topic is usually published by the position
|
||||
* estimator, which will take more sources of information into account than just GPS,
|
||||
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
*/
|
||||
struct vehicle_global_position_s {
|
||||
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
|
||||
uint64_t time_utc_usec; /**< GPS UTC timestamp in microseconds */
|
||||
double lat; /**< Latitude in degrees */
|
||||
double lon; /**< Longitude in degrees */
|
||||
float alt; /**< Altitude AMSL in meters */
|
||||
float vel_n; /**< Ground north velocity, m/s */
|
||||
float vel_e; /**< Ground east velocity, m/s */
|
||||
float vel_d; /**< Ground downside velocity, m/s */
|
||||
float yaw; /**< Yaw in radians -PI..+PI. */
|
||||
float eph; /**< Standard deviation of position estimate horizontally */
|
||||
float epv; /**< Standard deviation of position vertically */
|
||||
float terrain_alt; /**< Terrain altitude in m, WGS84 */
|
||||
bool terrain_alt_valid; /**< Terrain altitude estimate is valid */
|
||||
bool dead_reckoning; /**< True if this position is estimated through dead-reckoning*/
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_global_position);
|
||||
|
||||
#endif
|
||||
|
|
@ -1,94 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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_gps_position.h
|
||||
* Definition of the GPS WGS84 uORB topic.
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_GPS_H_
|
||||
#define TOPIC_VEHICLE_GPS_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* GPS position in WGS84 coordinates.
|
||||
*/
|
||||
struct vehicle_gps_position_s {
|
||||
uint64_t timestamp_position; /**< Timestamp for position information */
|
||||
int32_t lat; /**< Latitude in 1E-7 degrees */
|
||||
int32_t lon; /**< Longitude in 1E-7 degrees */
|
||||
int32_t alt; /**< Altitude in 1E-3 meters (millimeters) above MSL */
|
||||
|
||||
uint64_t timestamp_variance;
|
||||
float s_variance_m_s; /**< speed accuracy estimate m/s */
|
||||
float c_variance_rad; /**< course accuracy estimate rad */
|
||||
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
|
||||
|
||||
float eph; /**< GPS HDOP horizontal dilution of position in m */
|
||||
float epv; /**< GPS VDOP horizontal dilution of position in m */
|
||||
|
||||
unsigned noise_per_ms; /**< */
|
||||
unsigned jamming_indicator; /**< */
|
||||
|
||||
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
|
||||
float vel_m_s; /**< GPS ground speed (m/s) */
|
||||
float vel_n_m_s; /**< GPS ground speed in m/s */
|
||||
float vel_e_m_s; /**< GPS ground speed in m/s */
|
||||
float vel_d_m_s; /**< GPS ground speed in m/s */
|
||||
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
|
||||
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
|
||||
|
||||
uint64_t timestamp_time; /**< Timestamp for time information */
|
||||
uint64_t time_utc_usec; /**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
|
||||
|
||||
uint8_t satellites_used; /**< Number of satellites used */
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_gps_position);
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue