HBstructs.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------

#ifndef HB_STRUCTS__
#define HB_STRUCTS__

// Packet descriptors (received from Hb)
#define PD_IMURAWDATA  0x01
#define PD_LLSTATUS   0x02
#define PD_IMUCALCDATA  0x03
#define PD_HLSTATUS   0x04

#define PD_CTRLOUT   0x11
#define PD_FLIGHTPARAMS  0x12
#define PD_CTRLCOMMANDS  0x13
#define PD_CTRLINTERNAL  0x14
#define PD_RCDATA        0x15
#define PD_CTRLSTATUS  0x16

#define PD_WAYPOINT   0x20
#define PD_CURRENTWAY  0x21
#define PD_NMEADATA   0x22
#define PD_GPSDATA   0x23

#define NUM_OF_STRUCTS  24

/* <<---- START - LABROB ---->> */
#define PD_LABROB_POSE_IN     0x25
#define PD_LABROB_FDATA       0x26
#define PD_LABROB_CTRL_IN     0x27
#define PD_LABROB_CTRL_FL     0x28
#define PD_LABROB_CTRL_GAINS  0x29
#define PD_LABROB_FLTR_GAINS  0x31
#define PD_LABROB_MESSAGE     0x32
/* <<----  END  - LABROB ---->> */



// Define macros bit codes for datatypes
#define DT_LL_status    (unsigned short)0x0001
#define DT_IMU_RawData   (unsigned short)0x0002
#define DT_IMU_CalcData   (unsigned short)0x0004
#define DT_RC_Data     (unsigned short)0x0008
#define DT_CTRL_Out     (unsigned short)0x0010
#define DT_GPS_Data     (unsigned short)0x0080
#define DT_current_way    (unsigned short)0x0100
#define DT_GPS_Data_Advanced  (unsigned short)0x0200
#define DT_CAM_Data     (unsigned short)0x0800
// TODO check the size of all datatypes
#define DATATYPE_SIZE 2


 //system flags
 #define SF_PAGE_BIT1     0x01
 #define SF_PAGE_BIT2     0x02
 #define SF_SSP_ACK     0x04
 #define SF_GPS_NEW     0x08
 #define SF_HL_CONTROL_ENABLED  0x10
 #define SF_DIRECT_MOTOR_CONTROL  0x20
 #define SF_WAYPOINT_MODE   0x40


  // TODO: check those values

  //ctrl_flags
 //scientific control
 #define HL_CTRL_PITCH    0x01
 #define HL_CTRL_ROLL     0x02
 #define HL_CTRL_YAW      0x04
 #define HL_CTRL_THRUST    0x08
 #define HL_CTRL_HEIGHT_ENABLED 0x10
 #define HL_CTRL_GPS_ENABLED  0x20

 //direct motor control
 #define HL_CTRL_MOTORS_ONOFF_BY_RC 0x01


// define the maximum of data size
// TODO check the true max
#define MAX_DATA_SIZE 100

 struct IMU_CALCDATA {
 /*  angles derived by integration of gyro_outputs,
  drift compensated by data fusion; 1000 = 1 degree
  -90000..+90000 pitch(nick) and roll,
  0..360000 yaw;
 */
  int angle_nick;
  int angle_roll;
  int angle_yaw;
 
 //angular velocities, raw values [16 bit], bias free, in 0.0154 �/s (=> 64.8 = 1 �/s)
  int angvel_nick;
  int angvel_roll;
  int angvel_yaw;
 
 //acc-sensor outputs, calibrated: -10000..+10000 = -1g..+1g
  short acc_x_calib;
  short acc_y_calib;
  short acc_z_calib;
 
 //horizontal / vertical accelerations: -10000..+10000 = -1g..+1g
  short acc_x;
  short acc_y;
  short acc_z;
 
 //reference angles derived by accelerations only: -90000..+90000; 1000 = 1 degree
  int acc_angle_nick;
  int acc_angle_roll;
 
 //total acceleration measured (10000 = 1g)
  int acc_absolute_value;
 
 // magnetic field sensors output, offset free and scaled; units not determined,
 //  as only the direction of the field vector is taken into account
  int Hx;
  int Hy;
  int Hz;
 
 //compass reading: angle reference for angle_yaw: 0..360000; 1000 = 1 degree
  int mag_heading;
 
 //pseudo speed measurements: integrated accelerations, pulled towards zero; units unknown; used for short-term position stabilization
  int speed_x;
  int speed_y;
  int speed_z;
 
 //height in mm (after data fusion)
  int height;
 
 //diff. height in mm/s (after data fusion)
  int dheight;
 
 //diff. height measured by the pressure sensor [mm/s]
  int dheight_reference;
 
 //height measured by the pressure sensor [mm]
  int height_reference;
 };

 struct IMU_RAWDATA {

 //pressure sensor 24-bit value, not scaled but bias free
  int pressure;

 //16-bit gyro readings; 32768 = 2.5V
  short gyro_x;
  short gyro_y;
  short gyro_z;
 
 //10-bit magnetic field sensor readings
  short mag_x;
  short mag_y;
  short mag_z;
 
 //16-bit accelerometer readings
  short acc_x;
  short acc_y;
  short acc_z;
 
 //16-bit temperature measurement using yaw-gyro internal sensor
  unsigned short temp_gyro;
 
 //16-bit temperature measurement using ADC internal sensor
  unsigned int temp_ADC;
 };


 struct SYSTEM_PERMANENT_DATA {
  unsigned int total_uptime;
  unsigned int total_flighttime;
  unsigned int onoff_cycles;
  unsigned int number_of_flights;
  unsigned int chksum;
 };


 struct LL_ATTITUDE_DATA {
  unsigned short system_flags; //GPS data acknowledge, etc.
  short angle_pitch; //angles [deg*100]
  short angle_roll;
  unsigned short angle_yaw;
  short angvel_pitch; //angular velocities; bias-free [0.015°/s]
  short angvel_roll;
  short angvel_yaw;
     //<-- 14 bytes @ 1kHz
     //--> 3x 26 bytes @ 333 Hz
     //=> total = 40 bytes @ 1 kHz
 //-----------------------------PAGE0
  unsigned char RC_data[10]; //8 channels @ 10 bit
  int latitude_best_estimate; //GPS data fused with all other sensors
  int longitude_best_estimate;
  short acc_x;  //accelerations [mg]
  short acc_y;
  short acc_z;
  short dummy_333Hz_1;

 //-----------------------------PAGE1
  unsigned char motor_data[16]; //speed 0..7, PWM 0..7
  short speed_x_best_estimate;
  short speed_y_best_estimate;
  int height;  //height [mm]
  short dheight;  //differentiated height[mm/s]

 //------------------------------PAGE2
  short mag_x;
  short mag_y;
  short mag_z;
  short cam_angle_pitch;
  short cam_angle_roll;
  short cam_status;
  short battery_voltage1;
  short battery_voltage2;
  short flightMode;
  short flight_time;
  short cpu_load;
  short status;
  short status2;
 };

 struct GPS_DATA { 
 //latitude/longitude in deg * 10^7
  int latitude;
  int longitude;

 //GPS height in mm 
  int height;

 //speed in x (E/W) and y(N/S) in mm/s 
  int speed_x;
  int speed_y;

 //GPS heading in deg * 1000
  int heading; 

 //accuracy estimates in mm and mm/s
  unsigned int horizontal_accuracy;
  unsigned int vertical_accuracy;
  unsigned int speed_accuracy;
 
 //number of satellite vehicles used in NAV solution
  unsigned int numSV;

 // GPS status information; Bit7...Bit3: 0 Bit 2: longitude direction Bit1: latitude direction Bit 0: GPS lock
  int status;   

 };

struct GPS_DATA_ADVANCED {
 //latitude/longitude in deg * 10ˆ7
  int latitude;
  int longitude;

 //GPS height in mm
  int height;

 //speed in x (E/W) and y(N/S) in mm/s
  int speed_x;
  int speed_y;

 //GPS heading in deg * 1000
  int heading;

 //accuracy estimates in mm and mm/s
  unsigned int horizontal_accuracy;
  unsigned int vertical_accuracy;
  unsigned int speed_accuracy;

 //number of satellite vehicles used in NAV solution
  unsigned int numSV;

 //GPS status information; 0x03 = valid GPS fix
  int status;

 //coordinates of current origin in deg * 10ˆ7
  int latitude_best_estimate;
  int longitude_best_estimate;

 //velocities in X (E/W) and Y (N/S) after data fusion
  int speed_x_best_estimate;
  int speed_y_best_estimate;
};


struct LABROB_FLIGHT_DATA {
 unsigned short int time[2];  // Time vector: sec,msec (till 9 hours)

 int height;      // Barometer height in mm
 short dheight;     // Barometer differential height in mm/s
 short sonar_height;    // Sonar height in mm
 short sonar_dheight;   // Sonar differential height in mm/s
// short sonar_proj;    // Sonar height (projected) in mm
// short height_reference;   // Thrust control
 short thrust_control;   // Thrust control

 // Added to verify the height controller (to be removed)
// short Hk;
// short h_reference;
// int integral;

 short angle_pitch;    // attitude data: angles [deg*100] (from LL_ATTITUDE_DATA)
 short angle_roll;
 unsigned short angle_yaw;

 short angvel_pitch;    // angular velocities; bias-free [0.015°/s] (from LL_ATTITUDE_DATA)
 short angvel_roll;
 short angvel_yaw;

// short acc_x;     // acceleration measurements: mm/s^2
// short acc_y;
// short acc_z;

 // flags char, maintains flags for control, measurements update etc.
 // bit 0: whether the vehicle is remote controlled or not
 // bit 1: whether sonar data is updated or not
 // bit 2: whether the height control is active or not
 // bit 3:
 // bit 4:
 // bit 5:
 short flags;
};
extern struct LABROB_FLIGHT_DATA Labrob_Fdata;
  
  
  // Remote control, received from serial link
struct LABROB_CTRL_INPUT {
  short pitch;  //Pitch input: -2047..+2047 (0=neutral)
  short roll;   //Roll input: -2047..+2047  (0=neutral)
  short yaw;    //(=R/C Stick input) -2047..+2047 (0=neutral)
  short thrust; //Collective: 0..4095 = 0..100%
  short height_ref; // Reference for height control in mm
  short ctrl;       /*control byte:
              bit 0: pitch control enabled
              bit 1: roll control enabled
              bit 2: yaw control enabled
              bit 3: thrust control enabled
              bit 4: Height control enabled
              bit 5: GPS position control enabled
              */
  short chksum;
};

// Control flags: send/receive enables, controller enables
struct LABROB_CTRL_FLAGS {
  short send;
  // maintains flags for packets selection
  // bit 0: LABROB_FLIGHT_DATA
  // bit 1: LABROB_CTRL_INPUT
  // bit 2: LABROB_CONTROL_FLAGS
  // bit 3: CONTROLLERS_GAINS
  // bit 4: FILTERS_GAINS
  // bit 5:

  short controllers;
  // maintains flags for controller selection
  // bit 0: HEIGHT_CONTROL_PID (PID control)
  // bit 1: HEIGHT_CONTROL_2 ()
  // bit 2: POSITION_CONTROL
  // bit 3:
  // bit 4:
  // bit 5:

  short flight_data_delay;  // flight data   delay in ms : min 1 (= 1000 Hz) : base 20 (= 50  Hz)
  short ctrl_input_delay;  // control input  delay in ms : min 1 (= 1000 Hz) : base 20 (= 50  Hz)
  short ctrl_flags_delay;  // control flags  delay in ms : min 1 (= 1000 Hz) : base 20 (= 50  Hz)
  short height_control_delay; // height control delay in ms : min 1 (= 1000 Hz) : base 5 (= 200  Hz)
  short chksum;
};
extern struct LABROB_CTRL_FLAGS Labrob_Ctrl_Flags;

// Control gains, used to change controllers
struct LABROB_CONTROLLERS_GAINS {
  short height_pid[3];     // [0] = proportional; [1] = integral; [2] = derivative
  short chksum;
};

// Control gains, used to change controllers
struct LABROB_FILTERS_GAINS {
  double sonar_height_filter[2];
  short chksum;
};

// Pose packet, for further purpose
struct LABROB_POSE_INPUT {
  short pos_x, pos_y, pos_z;
  short ori_x, ori_y, ori_z;
  unsigned short int time[2];   // Time vector: sec,msec (till 9 hours)
  short chksum;
};
 
#endif