introduce tecs status uorb message

This commit is contained in:
Thomas Gubler 2014-05-24 18:04:38 +02:00
parent 2a354c2d10
commit 56ac13aafb
3 changed files with 87 additions and 0 deletions

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@ -47,6 +47,7 @@
#include "topics/vehicle_rates_setpoint.h"
#include "topics/actuator_outputs.h"
#include "topics/encoders.h"
#include "topics/tecs_status.h"
namespace uORB {
@ -76,5 +77,6 @@ template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
template class __EXPORT Publication<vehicle_rates_setpoint_s>;
template class __EXPORT Publication<actuator_outputs_s>;
template class __EXPORT Publication<encoders_s>;
template class __EXPORT Publication<tecs_status_s>;
}

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@ -199,3 +199,7 @@ ORB_DEFINE(encoders, struct encoders_s);
#include "topics/estimator_status.h"
ORB_DEFINE(estimator_status, struct estimator_status_report);
#include "topics/tecs_status.h"
ORB_DEFINE(tecs_status, struct tecs_status_s);

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@ -0,0 +1,81 @@
/****************************************************************************
*
* 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>
*/
#ifndef TECS_STATUS_T_H_
#define TECS_STATUS_T_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Internal values of the (m)TECS fixed wing speed alnd altitude control system
*/
struct tecs_status_s {
uint64_t timestamp; /**< timestamp, in microseconds since system start */
float altitudeSp;
float altitude;
float flightPathAngleSp;
float flightPathAngle;
float airspeedSp;
float airspeed;
float airspeedDerivativeSp;
float airspeedDerivative;
float totalEnergyRateSp;
float totalEnergyRate;
float energyDistributionRateSp;
float energyDistributionRate;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(tecs_status);
#endif