From 6e1185d4f256b1013945606b58bc5b6d503bb805 Mon Sep 17 00:00:00 2001 From: Julian Kent Date: Tue, 18 Feb 2020 18:39:49 +0100 Subject: [PATCH] Add uORB messages for bezier curve trajectories --- msg/CMakeLists.txt | 2 ++ msg/tools/uorb_rtps_message_ids.yaml | 5 +++++ msg/trajectory_bezier.msg | 8 ++++++++ msg/vehicle_trajectory_bezier.msg | 18 ++++++++++++++++++ 4 files changed, 33 insertions(+) create mode 100644 msg/trajectory_bezier.msg create mode 100644 msg/vehicle_trajectory_bezier.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 62191914a3..77c070bdca 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -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 diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml index 65a5b26420..daaacff6b9 100644 --- a/msg/tools/uorb_rtps_message_ids.yaml +++ b/msg/tools/uorb_rtps_message_ids.yaml @@ -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 ########## diff --git a/msg/trajectory_bezier.msg b/msg/trajectory_bezier.msg new file mode 100644 index 0000000000..813de4861e --- /dev/null +++ b/msg/trajectory_bezier.msg @@ -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 diff --git a/msg/vehicle_trajectory_bezier.msg b/msg/vehicle_trajectory_bezier.msg new file mode 100644 index 0000000000..421ff1a015 --- /dev/null +++ b/msg/vehicle_trajectory_bezier.msg @@ -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