From a75c0d8eb1b4aed14e95ae1ce004c8809d0e8fed Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 26 May 2015 22:51:01 -0700 Subject: [PATCH] uORB: Moved vehicle_vicon_position to generated topics --- msg/vehicle_vicon_position.msg | 10 +++ .../uORB/topics/vehicle_vicon_position.h | 77 ------------------- 2 files changed, 10 insertions(+), 77 deletions(-) create mode 100644 msg/vehicle_vicon_position.msg delete mode 100644 src/modules/uORB/topics/vehicle_vicon_position.h diff --git a/msg/vehicle_vicon_position.msg b/msg/vehicle_vicon_position.msg new file mode 100644 index 0000000000..1626d85383 --- /dev/null +++ b/msg/vehicle_vicon_position.msg @@ -0,0 +1,10 @@ +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 diff --git a/src/modules/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h deleted file mode 100644 index e19a34a5d7..0000000000 --- a/src/modules/uORB/topics/vehicle_vicon_position.h +++ /dev/null @@ -1,77 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * 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 -#include -#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