Add uORB messages for bezier curve trajectories

This commit is contained in:
Julian Kent 2020-02-18 18:39:49 +01:00 committed by Julian Kent
parent 5b8aa20c2f
commit 6e1185d4f2
4 changed files with 33 additions and 0 deletions

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@ -129,6 +129,7 @@ set(msg_files
telemetry_status.msg
test_motor.msg
timesync_status.msg
trajectory_bezier.msg
trajectory_waypoint.msg
transponder_report.msg
tune_control.msg
@ -158,6 +159,7 @@ set(msg_files
vehicle_roi.msg
vehicle_status.msg
vehicle_status_flags.msg
vehicle_trajectory_bezier.msg
vehicle_trajectory_waypoint.msg
vtol_vehicle_status.msg
wheel_encoders.msg

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@ -285,6 +285,10 @@ rtps:
id: 127
- msg: hover_thrust_estimate
id: 128
- msg: trajectory_bezier
id: 129
- msg: vehicle_trajectory_bezier
id: 130
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 150
@ -354,4 +358,5 @@ rtps:
- msg: estimator_innovation_test_ratios
id: 171
alias: estimator_innovations
########## multi topics: end ##########

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@ -0,0 +1,8 @@
# Bezier Trajectory description. See also Mavlink TRAJECTORY msg
# The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
uint64 timestamp # time since system start (microseconds)
float32[3] position
float32 yaw
float32 delta

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@ -0,0 +1,18 @@
# Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
# The topic vehicle_trajectory_bezier is used to send a smooth flight path from the
# companion computer / avoidance module to the position controller.
uint64 timestamp # time since system start (microseconds)
uint8 POINT_0 = 0
uint8 POINT_1 = 1
uint8 POINT_2 = 2
uint8 POINT_3 = 3
uint8 POINT_4 = 4
uint8 NUMBER_POINTS = 5
trajectory_bezier[5] control_points
uint8 bezier_order
# TOPICS vehicle_trajectory_bezier