From 7f7fa9549818d4774d0e6f920bde696ccdb5848e Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Tue, 29 Sep 2015 11:25:48 +0200
Subject: [PATCH] Adding quadnode messages

---
 msg/LQCommand.msg                 |  1 +
 msg/LQCommandEndConditionSpec.msg |  7 +++----
 msg/LQHeadingCommand.msg          | 28 ++++++++++++++++------------
 msg/LQHorizontalCommand.msg       | 21 ++++++++++++++-------
 msg/LQVerticalCommand.msg         | 15 +++++++++------
 5 files changed, 43 insertions(+), 29 deletions(-)

diff --git a/msg/LQCommand.msg b/msg/LQCommand.msg
index 813e5b2..0cf9622 100644
--- a/msg/LQCommand.msg
+++ b/msg/LQCommand.msg
@@ -11,5 +11,6 @@ LQCommandEndConditionSpec end_condition_spec
 int32 mode
 int32 tst_unique_node_id
 bool finished
+string name     # Limited to 10 characters and will be synced
 string comment
 
diff --git a/msg/LQCommandEndConditionSpec.msg b/msg/LQCommandEndConditionSpec.msg
index 173ba40..fd68157 100644
--- a/msg/LQCommandEndConditionSpec.msg
+++ b/msg/LQCommandEndConditionSpec.msg
@@ -1,8 +1,7 @@
-int32 timeout
+int32 timeout         # seconds
 bool horizontal
 bool vertical
 bool heading
-int32 wait_after_end_condition
+int32 wait_after_end_condition # seconds
 bool user_input
-int32 wait_after_user_input
-
+int32 wait_after_user_input    # seconds
diff --git a/msg/LQHeadingCommand.msg b/msg/LQHeadingCommand.msg
index 23a3426..ccfa7ca 100644
--- a/msg/LQHeadingCommand.msg
+++ b/msg/LQHeadingCommand.msg
@@ -1,16 +1,20 @@
 
 int32 MODE_IGNORE = 0
-int32 MODE_USE = 1
-int32 MODE_EXTERNAL_POSITION = 2
-int32 MODE_EXTERNAL_VELOCITY = 3
-int32 MODE_IN_FLIGHT_DIRECTION = 4
-int32 MODE_TOWARDS_POINT = 5
-int32 MODE_TOWARDS_EXTERNAL_POINT = 6
-int32 MODE_RC_STICK_VELOCITY = 7
+int32 MODE_HEADING_ABSOLUTE = 1
+int32 MODE_HEADING_RELATIVE = 2
+int32 MODE_HEADING_BODY_RELATIVE = 3
+int32 MODE_HEADING_RATE = 3
+int32 MODE_HEADING_POINT = 3
+int32 MODE_EXTERNAL_POSITION = 4
+int32 MODE_EXTERNAL_RATE = 5
+int32 MODE_IN_FLIGHT_DIRECTION = 6
+int32 MODE_TOWARDS_POINT = 6
+int32 MODE_TOWARDS_EXTERNAL_POINT = 7
+int32 MODE_RC_STICK_VELOCITY = 8
 
 int32 mode
-float32 x
-float32 y
-float32 z
-float32 heading
-
+float32 x       # For MODE_HEADING_POINT
+float32 y       # For MODE_HEADING_POINT
+float32 heading # Degreees, 0 towards north, postitive clockwise
+float32 rate
+bool use_rate_sign
diff --git a/msg/LQHorizontalCommand.msg b/msg/LQHorizontalCommand.msg
index 6f21e3e..498aa74 100644
--- a/msg/LQHorizontalCommand.msg
+++ b/msg/LQHorizontalCommand.msg
@@ -1,12 +1,19 @@
 
 int32 MODE_IGNORE = 0
 int32 MODE_USE = 1
-int32 MODE_EXTERNAL_POSITION = 2
-int32 MODE_EXTERNAL_VELOCITY = 3
-int32 MODE_KEEP_DISTANCE = 4
-int32 MODE_RC_STICK_VELOCITY = 5
+int32 MODE_HORIZONTAL_ABSOLUTE = 2
+int32 MODE_HORIZONTAL_RELATIVE = 3
+int32 MODE_HORIZONTAL_BODY_RELATIVE = 4
+int32 MODE_EXTERNAL_POSITION = 5
+int32 MODE_EXTERNAL_VELOCITY = 6
+int32 MODE_KEEP_DISTANCE = 7
+int32 MODE_RC_STICK_VELOCITY = 8
 
 int32 mode
-float32 x
-float32 y
-float32 z
+float32 x           # standard ros x, east; absolute offset in external modes
+float32 y           # standard ros y, north; absolute offset in external modes
+float32 speed
+float32 speed_end   # speed_end <= speed
+bool speed_depends_on_heading         # Slow down while adjusting heading
+bool speed_depends_on_vertical        # Slow down while adjusting vertical
+float32 distance
diff --git a/msg/LQVerticalCommand.msg b/msg/LQVerticalCommand.msg
index c8e2225..6f64765 100644
--- a/msg/LQVerticalCommand.msg
+++ b/msg/LQVerticalCommand.msg
@@ -1,10 +1,13 @@
 
 int32 MODE_IGNORE = 0
-int32 MODE_USE = 1
-int32 MODE_WITH_HORIZONTAL = 2
-int32 MODE_EXTERNAL_POSITION = 3
-int32 MODE_EXTERNAL_VELOCITY = 4
-int32 MODE_RC_STICK_VELOCITY = 5
+int32 MODE_VERTICAL_ABSOLUTE = 1
+int32 MODE_VERTICAL_RELATIVE = 2
+int32 MODE_WITH_HORIZONTAL = 3
+int32 MODE_EXTERNAL_POSITION = 4
+int32 MODE_EXTERNAL_VELOCITY = 5
+int32 MODE_RC_STICK_VELOCITY = 6
 
 int32 mode
-float32 z
+float32 z          # ros z, up, offset in external modes
+float32 speed
+
-- 
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