00001 /* 00002 00003 Copyright (c) 2011, Markus Achtelik, ASL, ETH Zurich, Switzerland 00004 You can contact the author at <markus dot achtelik at mavt dot ethz dot ch> 00005 00006 All rights reserved. 00007 00008 Redistribution and use in source and binary forms, with or without 00009 modification, are permitted provided that the following conditions are met: 00010 * Redistributions of source code must retain the above copyright 00011 notice, this list of conditions and the following disclaimer. 00012 * Redistributions in binary form must reproduce the above copyright 00013 notice, this list of conditions and the following disclaimer in the 00014 documentation and/or other materials provided with the distribution. 00015 * Neither the name of ETHZ-ASL nor the 00016 names of its contributors may be used to endorse or promote products 00017 derived from this software without specific prior written permission. 00018 00019 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00020 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00021 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00022 DISCLAIMED. IN NO EVENT SHALL ETHZ-ASL BE LIABLE FOR ANY 00023 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00024 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00025 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00026 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00027 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00029 00030 */ 00031 00032 #ifndef EXTPOSITIONCTRL_H_ 00033 #define EXTPOSITIONCTRL_H_ 00034 00035 struct __attribute__((packed)) EXT_POSITION 00036 { 00048 int x; 00049 int y; 00050 int z; 00051 int heading; 00052 short vX; 00053 short vY; 00054 short vZ; 00055 unsigned short bitfield; // 00056 unsigned char qualX; 00057 unsigned char qualY; 00058 unsigned char qualZ; 00059 unsigned char qualVx; 00060 unsigned char qualVy; 00061 unsigned char qualVz; 00062 unsigned char count; 00063 }; 00064 00065 struct __attribute__((packed)) EXT_POSITION_CMD 00066 { 00075 unsigned int seq; 00076 int x; 00077 int y; 00078 int z; 00079 int heading; 00080 short vX; 00081 short vY; 00082 short vZ; 00083 short vYaw; 00084 short vMaxXY; 00085 short vMaxZ; 00086 unsigned short bitfield; // 00087 }; 00088 #endif /* EXTPOSITIONCTRL_H_ */ 00089 00091 #define EXT_POSITION_RESET 0x8000 00092 00094 #define EXT_POSITION_BYPASS_FILTER 0x0001 00095 00097 #define EXT_POSITION_CMD_RESET 0x8000 00098 00100 #define EXT_POSITION_CMD_VELOCITY 0x0001 00101 00103 #define EXT_POSITION_CMD_POSITION 0x0000 00104