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Move vision position estimate to generated topics

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Lorenz Meier
2015-05-25 19:21:31 +02:00
parent 01d72adca5
commit 961b6b7802
4 changed files with 16 additions and 84 deletions
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14
msg/vision_position_estimate.msg Normal file
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@@ -0,0 +1,14 @@
uint32 id # ID of the estimator, commonly the component ID of the incoming message
uint64 timestamp_boot # time of this estimate, in microseconds since system start
uint64 timestamp_computer # timestamp provided by the companion computer, in us
float32 x # X position in meters in NED earth-fixed frame
float32 y # Y position in meters in NED earth-fixed frame
float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
float32 vx # X velocity in meters per second in NED earth-fixed frame
float32 vy # Y velocity in meters per second in NED earth-fixed frame
float32 vz # Z velocity in meters per second in NED earth-fixed frame
float32[4] q # Estimated attitude as quaternion

2
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
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@@ -290,7 +290,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
math::Matrix<3, 3> R_decl;
R_decl.identity();
struct vision_position_estimate vision {};
struct vision_position_estimate_s vision {};
/* register the perf counter */
perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");

2
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@@ -325,7 +325,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
memset(&local_pos, 0, sizeof(local_pos));
struct optical_flow_s flow;
memset(&flow, 0, sizeof(flow));
struct vision_position_estimate vision;
struct vision_position_estimate_s vision;
memset(&vision, 0, sizeof(vision));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));

82
src/modules/uORB/topics/vision_position_estimate.h
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@@ -1,82 +0,0 @@
/****************************************************************************
*
* Copyright (c) 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 vision_position_estimate.h
* Vision based position estimate
*/
#ifndef TOPIC_VISION_POSITION_ESTIMATE_H_
#define TOPIC_VISION_POSITION_ESTIMATE_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Vision based position estimate in NED frame
*/
struct vision_position_estimate {
unsigned id; /**< ID of the estimator, commonly the component ID of the incoming message */
uint64_t timestamp_boot; /**< time of this estimate, in microseconds since system start */
uint64_t timestamp_computer; /**< timestamp provided by the companion computer, in us */
float x; /**< X position in meters in NED earth-fixed frame */
float y; /**< Y position in meters in NED earth-fixed frame */
float z; /**< Z position in meters in NED earth-fixed frame (negative altitude) */
float vx; /**< X velocity in meters per second in NED earth-fixed frame */
float vy; /**< Y velocity in meters per second in NED earth-fixed frame */
float vz; /**< Z velocity in meters per second in NED earth-fixed frame */
float q[4]; /**< Estimated attitude as quaternion */
// XXX Add covariances here
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vision_position_estimate);
#endif /* TOPIC_VISION_POSITION_ESTIMATE_H_ */