forked from Archive/PX4-Autopilot
91 lines
3.5 KiB
C
Executable File
91 lines
3.5 KiB
C
Executable File
/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file vehicle_attitude.h
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* Definition of the attitude uORB topic.
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*/
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#ifndef VEHICLE_ATTITUDE_H_
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#define VEHICLE_ATTITUDE_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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*/
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/**
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* Attitude in NED body frame in SI units.
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*
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* @see http://en.wikipedia.org/wiki/International_System_of_Units
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*/
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struct vehicle_attitude_s {
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uint64_t timestamp; /**< in microseconds since system start */
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/* This is similar to the mavlink message ATTITUDE, but for onboard use */
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/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
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float roll; /**< Roll angle (rad, Tait-Bryan, NED) */
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float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */
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float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */
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float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */
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float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */
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float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */
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float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */
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float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */
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float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */
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float rate_offsets[3]; /**< Offsets of the body angular rates from zero */
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float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
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float q[4]; /**< Quaternion (NED) */
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bool R_valid; /**< Rotation matrix valid */
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bool q_valid; /**< Quaternion valid */
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(vehicle_attitude);
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#endif
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