From b36fe0232f34aa34e703809dd68b6571b7fbe7e2 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 26 May 2015 22:47:48 -0700 Subject: [PATCH] uORB: Moved tecs_status to generated topics --- msg/tecs_status.msg | 26 ++++++++ src/modules/uORB/topics/tecs_status.h | 94 --------------------------- 2 files changed, 26 insertions(+), 94 deletions(-) create mode 100644 msg/tecs_status.msg delete mode 100644 src/modules/uORB/topics/tecs_status.h diff --git a/msg/tecs_status.msg b/msg/tecs_status.msg new file mode 100644 index 0000000000..ccac921e2b --- /dev/null +++ b/msg/tecs_status.msg @@ -0,0 +1,26 @@ +uint8 TECS_MODE_NORMAL = 0 +uint8 TECS_MODE_UNDERSPEED = 1 +uint8 TECS_MODE_TAKEOFF = 2 +uint8 TECS_MODE_LAND = 3 +uint8 TECS_MODE_LAND_THROTTLELIM = 4 +uint8 TECS_MODE_BAD_DESCENT = 5 +uint8 TECS_MODE_CLIMBOUT = 6 + +uint64 timestamp # timestamp, in microseconds since system start */ + +float32 altitudeSp +float32 altitude_filtered +float32 flightPathAngleSp +float32 flightPathAngle +float32 flightPathAngleFiltered +float32 airspeedSp +float32 airspeed_filtered +float32 airspeedDerivativeSp +float32 airspeedDerivative + +float32 totalEnergyRateSp +float32 totalEnergyRate +float32 energyDistributionRateSp +float32 energyDistributionRate + +uint8 mode diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h deleted file mode 100644 index 3c858901c7..0000000000 --- a/src/modules/uORB/topics/tecs_status.h +++ /dev/null @@ -1,94 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. - * - * 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_global_position.h - * Definition of the global fused WGS84 position uORB topic. - * - * @author Thomas Gubler - */ - -#ifndef TECS_STATUS_T_H_ -#define TECS_STATUS_T_H_ - -#include -#include -#include "../uORB.h" - -/** - * @addtogroup topics - * @{ - */ - -typedef enum { - TECS_MODE_NORMAL = 0, - TECS_MODE_UNDERSPEED, - TECS_MODE_TAKEOFF, - TECS_MODE_LAND, - TECS_MODE_LAND_THROTTLELIM, - TECS_MODE_BAD_DESCENT, - TECS_MODE_CLIMBOUT -} tecs_mode; - -/** -* Internal values of the (m)TECS fixed wing speed alnd altitude control system -*/ -struct tecs_status_s { - uint64_t timestamp; /**< timestamp, in microseconds since system start */ - - float altitudeSp; - float altitude_filtered; - float flightPathAngleSp; - float flightPathAngle; - float flightPathAngleFiltered; - float airspeedSp; - float airspeed_filtered; - float airspeedDerivativeSp; - float airspeedDerivative; - - float totalEnergyRateSp; - float totalEnergyRate; - float energyDistributionRateSp; - float energyDistributionRate; - - tecs_mode mode; -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(tecs_status); - -#endif