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uORB: Moved vehicle_vicon_position to generated topics

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Lorenz Meier 2015-05-26 22:51:01 -07:00
parent 411e0b2f84
commit a75c0d8eb1
2 changed files with 10 additions and 77 deletions
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10
msg/vehicle_vicon_position.msg Normal file
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uint64 timestamp # time of this estimate, in microseconds since system start
bool valid # true if position satisfies validity criteria of estimator
float32 x # X position in meters in NED earth-fixed frame
float32 y # Y position in meters in NED earth-fixed frame
float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
float32 roll
float32 pitch
float32 yaw
float32[4] q # Attitude as quaternion

77
src/modules/uORB/topics/vehicle_vicon_position.h
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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_vicon_position.h
* Definition of the raw VICON Motion Capture position
*/
#ifndef TOPIC_VEHICLE_VICON_POSITION_H_
#define TOPIC_VEHICLE_VICON_POSITION_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Fused local position in NED.
*/
struct vehicle_vicon_position_s {
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
bool valid; /**< true if position satisfies validity criteria of estimator */
float x; /**< X positin in meters in NED earth-fixed frame */
float y; /**< X positin in meters in NED earth-fixed frame */
float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */
float roll;
float pitch;
float yaw;
// TODO Add covariances here
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_vicon_position);
#endif