forked from Archive/PX4-Autopilot
78 lines
2.9 KiB
C
78 lines
2.9 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @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_setpoint.h
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* Definition of the vehicle attitude setpoint uORB topic.
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*/
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#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
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#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_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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/**
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* vehicle attitude setpoint.
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*/
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struct vehicle_attitude_setpoint_s
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{
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uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
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float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */
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float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */
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float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */
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float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */
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float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
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bool R_valid; /**< Set to true if rotation matrix is valid */
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float thrust; /**< Thrust in Newton the power system should generate */
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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_setpoint);
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#endif /* TOPIC_ARDRONE_CONTROL_H_ */
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