Commit b36fe023 authored by Lorenz Meier's avatar Lorenz Meier
Browse files

uORB: Moved tecs_status to generated topics

parent 520d830c
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
/****************************************************************************
*
* 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 <thomasgubler@student.ethz.ch>
*/
#ifndef TECS_STATUS_T_H_
#define TECS_STATUS_T_H_
#include <stdint.h>
#include <stdbool.h>
#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
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