Started adding types for stabilizer bitcraze#102

src/modules/interface/stabilizer_types.h

@@ -0,0 +1,73 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2011-2012 Bitcraze AB
+ *
+ * This program 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, in version 3.
+ *
+ * This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * stabilizer.h: Stabilizer orchestrator
+ */
+#ifndef __STABILIZER_TYPES_H__
+#define __STABILIZER_TYPES_H__
+
+#include <stdint.h>
+
+/* Data structure used by the stabilizer subsystem.
+ * All have a timestamp to be set when the data is calculated.
+ */
+
+/** Attitude in euler angle form */
+typedef struct attitude_s {
+  uint32_t timestamp;  // Timestamp when the data was computed
+
+  float roll;
+  float pitch;
+  float yaw;
+} attitude_t;
+
+/* x,y,z vector */
+typedef struct point_s {
+  uint32_t timestamp; // Timestamp when the data was computed
+
+  float x;
+  float y;
+  float z;
+} point_t;
+
+/* Orientation as a quaternion */
+typedef struct quaternion_s {
+  uint32_t timestamp;
+
+  union {
+    struct {
+      float q0;
+      float q1;
+      float q2;
+      float q3;
+    };
+    struct {
+      float x;
+      float y;
+      float z;
+      float w;
+    };
+  };
+} quaternion_t;
+
+#endif