forked from Archive/PX4-Autopilot
118 lines
4.9 KiB
C
118 lines
4.9 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
|
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
|
* @author Julian Oes <joes@student.ethz.ch>
|
|
* @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 sensor_combined.h
|
|
* Definition of the sensor_combined uORB topic.
|
|
*/
|
|
|
|
#ifndef SENSOR_COMBINED_H_
|
|
#define SENSOR_COMBINED_H_
|
|
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
#include "../uORB.h"
|
|
|
|
/**
|
|
* @addtogroup topics
|
|
* @{
|
|
*/
|
|
|
|
enum MAGNETOMETER_MODE {
|
|
MAGNETOMETER_MODE_NORMAL = 0,
|
|
MAGNETOMETER_MODE_POSITIVE_BIAS,
|
|
MAGNETOMETER_MODE_NEGATIVE_BIAS
|
|
};
|
|
|
|
/**
|
|
* Sensor readings in raw and SI-unit form.
|
|
*
|
|
* These values are read from the sensors. Raw values are in sensor-specific units,
|
|
* the scaled values are in SI-units, as visible from the ending of the variable
|
|
* or the comments. The use of the SI fields is in general advised, as these fields
|
|
* are scaled and offset-compensated where possible and do not change with board
|
|
* revisions and sensor updates.
|
|
*
|
|
*/
|
|
struct sensor_combined_s {
|
|
|
|
/*
|
|
* Actual data, this is specific to the type of data which is stored in this struct
|
|
* A line containing L0GME will be added by the Python logging code generator to the
|
|
* logged dataset.
|
|
*/
|
|
|
|
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
|
|
|
|
uint64_t timestamp; /**< Timestamp in microseconds since boot */
|
|
|
|
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
|
|
uint16_t gyro_counter; /**< Number of raw measurments taken */
|
|
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
|
|
|
|
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
|
|
uint32_t accelerometer_counter; /**< Number of raw acc measurements taken */
|
|
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
|
|
int accelerometer_mode; /**< Accelerometer measurement mode */
|
|
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
|
|
|
|
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
|
|
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
|
|
int magnetometer_mode; /**< Magnetometer measurement mode */
|
|
float magnetometer_range_ga; /**< ± measurement range in Gauss */
|
|
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
|
|
uint32_t magnetometer_counter; /**< Number of raw mag measurements taken */
|
|
|
|
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
|
|
float baro_alt_meter; /**< Altitude, already temp. comp. */
|
|
float baro_temp_celcius; /**< Temperature in degrees celsius */
|
|
float battery_voltage_v; /**< Battery voltage in volts, filtered */
|
|
float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 */
|
|
uint32_t baro_counter; /**< Number of raw baro measurements taken */
|
|
uint32_t battery_voltage_counter; /**< Number of voltage measurements taken */
|
|
bool battery_voltage_valid; /**< True if battery voltage can be measured */
|
|
|
|
};
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/* register this as object request broker structure */
|
|
ORB_DECLARE(sensor_combined);
|
|
|
|
#endif
|