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Update to uORB topics, added / improved position triplet, added radio status

This commit is contained in:
Lorenz Meier 2013-07-04 15:39:29 +02:00
parent e9290e7fc0
commit 5691c64ff0
6 changed files with 251 additions and 4 deletions
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9
src/modules/uORB/objects_common.cpp
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@ -110,6 +110,9 @@ ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setp
#include "topics/vehicle_global_position_set_triplet.h"
ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
#include "topics/mission.h"
ORB_DEFINE(mission, struct mission_s);
#include "topics/vehicle_attitude_setpoint.h"
ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
@ -158,5 +161,11 @@ ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/telemetry_status.h"
ORB_DEFINE(telemetry_status, struct telemetry_status_s);
#include "topics/debug_key_value.h"
ORB_DEFINE(debug_key_value, struct debug_key_value_s);
#include "topics/navigation_capabilities.h"
ORB_DEFINE(navigation_capabilities, struct navigation_capabilities_s);

7
src/modules/uORB/topics/differential_pressure.h
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@ -52,10 +52,11 @@
* Differential pressure.
*/
struct differential_pressure_s {
uint64_t timestamp; /**< microseconds since system boot, needed to integrate */
uint16_t differential_pressure_pa; /**< Differential pressure reading */
uint64_t timestamp; /**< microseconds since system boot, needed to integrate */
uint16_t differential_pressure_pa; /**< Differential pressure reading */
uint16_t max_differential_pressure_pa; /**< Maximum differential pressure reading */
float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */
float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */
float temperature; /**< Temperature provided by sensor */
};

99
src/modules/uORB/topics/mission.h Normal file
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@ -0,0 +1,99 @@
/****************************************************************************
*
* 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 mission_item.h
* Definition of one mission item.
*/
#ifndef TOPIC_MISSION_H_
#define TOPIC_MISSION_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
enum NAV_CMD {
NAV_CMD_WAYPOINT = 0,
NAV_CMD_LOITER_TURN_COUNT,
NAV_CMD_LOITER_TIME_LIMIT,
NAV_CMD_LOITER_UNLIMITED,
NAV_CMD_RETURN_TO_LAUNCH,
NAV_CMD_LAND,
NAV_CMD_TAKEOFF
};
/**
* Global position setpoint in WGS84 coordinates.
*
* This is the position the MAV is heading towards. If it of type loiter,
* the MAV is circling around it with the given loiter radius in meters.
*/
struct mission_item_s
{
bool altitude_is_relative; /**< true if altitude is relative from start point */
double lat; /**< latitude in degrees * 1E7 */
double lon; /**< longitude in degrees * 1E7 */
float altitude; /**< altitude in meters */
float yaw; /**< in radians NED -PI..+PI */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
uint8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< true if loitering is enabled */
float param1;
float param2;
float param3;
float param4;
};
struct mission_s
{
struct mission_item_s *items;
unsigned count;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(mission);
#endif

65
src/modules/uORB/topics/navigation_capabilities.h Normal file
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@ -0,0 +1,65 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 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 navigation_capabilities.h
*
* Definition of navigation capabilities uORB topic.
*/
#ifndef TOPIC_NAVIGATION_CAPABILITIES_H_
#define TOPIC_NAVIGATION_CAPABILITIES_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Airspeed
*/
struct navigation_capabilities_s {
float turn_distance; /**< the optimal distance to a waypoint to switch to the next */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(navigation_capabilities);
#endif

67
src/modules/uORB/topics/telemetry_status.h Normal file
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@ -0,0 +1,67 @@
/****************************************************************************
*
* Copyright (c) 2013 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 telemetry_status.h
*
* Telemetry status topics - radio status outputs
*/
#ifndef TOPIC_TELEMETRY_STATUS_H
#define TOPIC_TELEMETRY_STATUS_H
#include <stdint.h>
#include "../uORB.h"
enum TELEMETRY_STATUS_RADIO_TYPE {
TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
TELEMETRY_STATUS_RADIO_TYPE_WIRE
};
struct telemetry_status_s {
uint64_t timestamp;
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
unsigned rssi; /**< local signal strength */
unsigned remote_rssi; /**< remote signal strength */
unsigned rxerrors; /**< receive errors */
unsigned fixed; /**< count of error corrected packets */
uint8_t noise; /**< background noise level */
uint8_t remote_noise; /**< remote background noise level */
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
};
ORB_DECLARE(telemetry_status);
#endif /* TOPIC_TELEMETRY_STATUS_H */

8
src/modules/uORB/topics/vehicle_global_position_setpoint.h
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@ -45,6 +45,7 @@
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#include "mission.h"
/**
* @addtogroup topics
@ -65,7 +66,12 @@ struct vehicle_global_position_setpoint_s
float altitude; /**< altitude in meters */
float yaw; /**< in radians NED -PI..+PI */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
bool is_loiter; /**< true if loitering is enabled */
uint8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< true if loitering is enabled */
float param1;
float param2;
float param3;
float param4;
};
/**