position_setpoint.h

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (C) 2013-2016 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.
 *
 ****************************************************************************/

/* Auto-generated by genmsg_cpp from file position_setpoint.msg */


#pragma once


#include <uORB/uORB.h>


#ifndef __cplusplus
#define POSITION_SETPOINT_SETPOINT_TYPE_POSITION 0
#define POSITION_SETPOINT_SETPOINT_TYPE_VELOCITY 1
#define POSITION_SETPOINT_SETPOINT_TYPE_LOITER 2
#define POSITION_SETPOINT_SETPOINT_TYPE_TAKEOFF 3
#define POSITION_SETPOINT_SETPOINT_TYPE_LAND 4
#define POSITION_SETPOINT_SETPOINT_TYPE_IDLE 5
#define POSITION_SETPOINT_SETPOINT_TYPE_OFFBOARD 6
#define POSITION_SETPOINT_SETPOINT_TYPE_FOLLOW_TARGET 7
#define POSITION_SETPOINT_VELOCITY_FRAME_LOCAL_NED 1
#define POSITION_SETPOINT_VELOCITY_FRAME_BODY_NED 8

#endif


#ifdef __cplusplus
struct __EXPORT position_setpoint_s {
#else
struct position_setpoint_s {
#endif
    uint64_t timestamp;
    double lat;
    double lon;
    float x;
    float y;
    float z;
    float vx;
    float vy;
    float vz;
    float alt;
    float yaw;
    float yawspeed;
    float loiter_radius;
    float pitch_min;
    float a_x;
    float a_y;
    float a_z;
    float acceptance_radius;
    float cruising_speed;
    float cruising_throttle;
    bool valid;
    uint8_t type;
    bool position_valid;
    bool velocity_valid;
    uint8_t velocity_frame;
    bool alt_valid;
    bool yaw_valid;
    bool yawspeed_valid;
    int8_t landing_gear;
    int8_t loiter_direction;
    bool acceleration_valid;
    bool acceleration_is_force;
    bool allow_weather_vane;
    uint8_t _padding0[7]; // required for logger


#ifdef __cplusplus
    static constexpr uint8_t SETPOINT_TYPE_POSITION = 0;
    static constexpr uint8_t SETPOINT_TYPE_VELOCITY = 1;
    static constexpr uint8_t SETPOINT_TYPE_LOITER = 2;
    static constexpr uint8_t SETPOINT_TYPE_TAKEOFF = 3;
    static constexpr uint8_t SETPOINT_TYPE_LAND = 4;
    static constexpr uint8_t SETPOINT_TYPE_IDLE = 5;
    static constexpr uint8_t SETPOINT_TYPE_OFFBOARD = 6;
    static constexpr uint8_t SETPOINT_TYPE_FOLLOW_TARGET = 7;
    static constexpr uint8_t VELOCITY_FRAME_LOCAL_NED = 1;
    static constexpr uint8_t VELOCITY_FRAME_BODY_NED = 8;

#endif
};

/* register this as object request broker structure */
ORB_DECLARE(position_setpoint);


#ifdef __cplusplus
void print_message(const position_setpoint_s& message);
#endif