extPositionCtrl.h
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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 
00106 #define EXT_POSITION_CMD_WORLDFIXED       0x0000
00107 
00109 #define EXT_POSITION_CMD_BODYFIXED       0x0010
00110 


asctec_hl_comm
Author(s): Markus Achtelik, Michael Achtelik, Stephan Weiss, Laurent Kneip
autogenerated on Thu Aug 27 2015 12:26:47