Add uORB messages for bezier curve trajectories

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

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 ##########

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

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