SystemState.h

00001 #ifndef _SYSTEMSTATE_H
00002 #define _SYSTEMSTATE_H
00003 
00004 #define SSBUF 0x2F
00005 
00006 /** System State is the main mechanism for communicating current realtime system state to
00007  * the rest of the system for logging, data display, etc.
00008  */
00009 
00010 /* struct systemState
00011  * structure containing system sensor data
00012  ****** System Status
00013  * millis               number of milliseconds since epoch (or startup)
00014  * current              current draw in amps
00015  * voltage              voltage in volts
00016  ****** Data reported by IMU
00017  * g[3]                 raw 3-axis gyro values; if using 1-axis, then store data in gx
00018  * gTemp                Gyro temperature
00019  * a[3]                 raw 3-axis accelerometer values
00020  * m[3]                 raw 3-axis magnetometer values; if using 2d then store data in mx and my
00021  * gHeading             independently calculated gyro heading in degrees
00022  * cHeading             independently calculated compass heading in degrees
00023  ****** AHRS Estimates
00024  * roll, pitch, yaw     estimated attitude in degrees relative to the world frame
00025  ****** Data reported by GPS
00026  * gpsLatitude          raw GPS latitude in fractional degrees (e.g., 39.123456)
00027  * gpsLongitude         raw GPS longitude in fractional degrees (e.g., -104.123456
00028  * gpsCourse            raw GPS course in degrees
00029  * gpsSpeed             raw GPS speed in mph
00030  * gpsHDOP              raw GPS Horizontal Dilution of Precision
00031  ****** Odometry data
00032  * lrEncDistance        left rear encoder distance since last log update
00033  * rrEncDistance        right rear encoder distance since last log update
00034  * lrEncSpeed           left rear encoder speed 
00035  * rrEncSpeed           right rear encoder speed
00036  * encHeading           estimated heading based on encoder readings
00037  ****** Estimated Position and Heading
00038  * estHeading           estimated heading in degrees, this is the robot's reference for heading
00039  * estLatitude          estimated latitude in fractional degrees (e.g., 39.123456)
00040  * estLongitude         estimated longitude in fractional degrees (e.g., -104.123456)
00041  * estNorthing          some algorithms use UTM.  Estimated UTM northing
00042  * estEasting           estimated UTM easting
00043  * estX, estY           some algorithms use simple x, y distance from origin (meters)
00044  ****** Waypoint data
00045  * nextWaypoint         integer ID of the next waypoint
00046  * bearing              estimated bearing to next waypoint in degrees
00047  * distance             estimated distance to next waypoint in meters
00048  ****** Control data
00049  * throttle             raw servo setting(units?)
00050  * steering             raw servo setting(units?)
00051  */
00052 typedef struct {
00053     unsigned int millis;
00054     float current, voltage;
00055     int g[3];
00056     int gTemp;
00057     int a[3];
00058     int m[3];
00059     float gHeading;
00060     float cHeading;
00061     //float roll, pitch, yaw;
00062     double gpsLatitude;
00063     double gpsLongitude;
00064     float gpsCourse;
00065     float gpsSpeed;
00066     float gpsHDOP;
00067     int gpsSats;
00068     float lrEncDistance, rrEncDistance;
00069     float lrEncSpeed, rrEncSpeed;
00070     float encHeading;
00071     float estHeading;
00072     double estLatitude, estLongitude;
00073     //double estNorthing, estEasting;
00074     float estX, estY;
00075     unsigned short nextWaypoint;
00076     float bearing;
00077     float distance;
00078     float gbias;
00079     float errAngle;
00080     float leftRanger;
00081     float rightRanger;
00082     float centerRanger;
00083     float crossTrackErr;
00084 } SystemState;
00085 
00086 #endif