forked from Archive/PX4-Autopilot
introduce tecs status uorb message
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@ -47,6 +47,7 @@
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#include "topics/vehicle_rates_setpoint.h"
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#include "topics/vehicle_rates_setpoint.h"
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#include "topics/actuator_outputs.h"
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#include "topics/actuator_outputs.h"
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#include "topics/encoders.h"
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#include "topics/encoders.h"
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#include "topics/tecs_status.h"
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namespace uORB {
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namespace uORB {
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@ -76,5 +77,6 @@ template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
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template class __EXPORT Publication<vehicle_rates_setpoint_s>;
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template class __EXPORT Publication<vehicle_rates_setpoint_s>;
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template class __EXPORT Publication<actuator_outputs_s>;
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template class __EXPORT Publication<actuator_outputs_s>;
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template class __EXPORT Publication<encoders_s>;
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template class __EXPORT Publication<encoders_s>;
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template class __EXPORT Publication<tecs_status_s>;
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}
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}
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@ -199,3 +199,7 @@ ORB_DEFINE(encoders, struct encoders_s);
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#include "topics/estimator_status.h"
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#include "topics/estimator_status.h"
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ORB_DEFINE(estimator_status, struct estimator_status_report);
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ORB_DEFINE(estimator_status, struct estimator_status_report);
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#include "topics/tecs_status.h"
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ORB_DEFINE(tecs_status, struct tecs_status_s);
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@ -0,0 +1,81 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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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 vehicle_global_position.h
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* Definition of the global fused WGS84 position uORB topic.
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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*/
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#ifndef TECS_STATUS_T_H_
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#define TECS_STATUS_T_H_
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#include <stdint.h>
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#include <stdbool.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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/**
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* Internal values of the (m)TECS fixed wing speed alnd altitude control system
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*/
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struct tecs_status_s {
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uint64_t timestamp; /**< timestamp, in microseconds since system start */
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float altitudeSp;
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float altitude;
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float flightPathAngleSp;
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float flightPathAngle;
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float airspeedSp;
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float airspeed;
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float airspeedDerivativeSp;
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float airspeedDerivative;
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float totalEnergyRateSp;
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float totalEnergyRate;
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float energyDistributionRateSp;
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float energyDistributionRate;
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};
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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(tecs_status);
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#endif
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