Remove MavLink dependency in navigator

src/modules/navigator/CMakeLists.txt

@@ -31,8 +31,6 @@
 #
 ############################################################################
 
-include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
-
 px4_add_module(
 	MODULE modules__navigator
 	MAIN navigator

src/modules/navigator/geofence.cpp

@@ -47,7 +47,6 @@
 #include <drivers/drv_hrt.h>
 #include <geo/geo.h>
 #include <systemlib/mavlink_log.h>
-#include <v2.0/common/mavlink.h>
 
 #include "navigator.h"
 
@@ -117,18 +116,18 @@ void Geofence::_updateFence()
 		}
 
 		switch (mission_fence_point.nav_cmd) {
-		case MAV_CMD_NAV_FENCE_RETURN_POINT:
+		case NAV_CMD_FENCE_RETURN_POINT:
 			// TODO: do we need to store this?
 			++current_seq;
 			break;
 
-		case MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION:
-		case MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION:
+		case NAV_CMD_FENCE_CIRCLE_INCLUSION:
+		case NAV_CMD_FENCE_CIRCLE_EXCLUSION:
 			is_circle_area = true;
 
 		/* FALLTHROUGH */
-		case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
-		case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION:
+		case NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION:
+		case NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION:
 			if (!is_circle_area && mission_fence_point.vertex_count == 0) {
 				++current_seq; // avoid endless loop
 				PX4_ERR("Polygon with 0 vertices. Skipping");
@@ -320,7 +319,7 @@ bool Geofence::checkPolygons(double lat, double lon, float altitude)
 	bool had_inclusion_areas = false;
 
 	for (int polygon_idx = 0; polygon_idx < _num_polygons; ++polygon_idx) {
-		if (_polygons[polygon_idx].fence_type == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION) {
+		if (_polygons[polygon_idx].fence_type == NAV_CMD_FENCE_CIRCLE_INCLUSION) {
 			bool inside = insideCircle(_polygons[polygon_idx], lat, lon, altitude);
 
 			if (inside) {
@@ -329,7 +328,7 @@ bool Geofence::checkPolygons(double lat, double lon, float altitude)
 
 			had_inclusion_areas = true;
 
-		} else if (_polygons[polygon_idx].fence_type == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION) {
+		} else if (_polygons[polygon_idx].fence_type == NAV_CMD_FENCE_CIRCLE_EXCLUSION) {
 			bool inside = insideCircle(_polygons[polygon_idx], lat, lon, altitude);
 
 			if (inside) {
@@ -339,7 +338,7 @@ bool Geofence::checkPolygons(double lat, double lon, float altitude)
 		} else { // it's a polygon
 			bool inside = insidePolygon(_polygons[polygon_idx], lat, lon, altitude);
 
-			if (_polygons[polygon_idx].fence_type == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION) {
+			if (_polygons[polygon_idx].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION) {
 				if (inside) {
 					inside_inclusion = true;
 				}
@@ -383,9 +382,9 @@ bool Geofence::insidePolygon(const PolygonInfo &polygon, double lat, double lon,
 			break;
 		}
 
-		if (temp_vertex_i.frame != MAV_FRAME_GLOBAL && temp_vertex_i.frame != MAV_FRAME_GLOBAL_INT
-		    && temp_vertex_i.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT
-		    && temp_vertex_i.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
+		if (temp_vertex_i.frame != NAV_FRAME_GLOBAL && temp_vertex_i.frame != NAV_FRAME_GLOBAL_INT
+		    && temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT
+		    && temp_vertex_i.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
 			// TODO: handle different frames
 			PX4_ERR("Frame type %i not supported", (int)temp_vertex_i.frame);
 			break;
@@ -412,9 +411,9 @@ bool Geofence::insideCircle(const PolygonInfo &polygon, double lat, double lon,
 		return false;
 	}
 
-	if (circle_point.frame != MAV_FRAME_GLOBAL && circle_point.frame != MAV_FRAME_GLOBAL_INT
-	    && circle_point.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT
-	    && circle_point.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
+	if (circle_point.frame != NAV_FRAME_GLOBAL && circle_point.frame != NAV_FRAME_GLOBAL_INT
+	    && circle_point.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT
+	    && circle_point.frame != NAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
 		// TODO: handle different frames
 		PX4_ERR("Frame type %i not supported", (int)circle_point.frame);
 		return false;
@@ -482,8 +481,8 @@ Geofence::loadFromFile(const char *filename)
 		if (gotVertical) {
 			/* Parse the line as a geofence point */
 			mission_fence_point_s vertex;
-			vertex.frame = MAV_FRAME_GLOBAL;
-			vertex.nav_cmd = MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION;
+			vertex.frame = NAV_FRAME_GLOBAL;
+			vertex.nav_cmd = NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION;
 			vertex.vertex_count = 0; // this will be filled in a second pass
 			vertex.alt = 0; // alt is not used
 
@@ -588,19 +587,19 @@ void Geofence::printStatus()
 	for (int i = 0; i < _num_polygons; ++i) {
 		total_num_vertices += _polygons[i].vertex_count;
 
-		if (_polygons[i].fence_type == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION) {
+		if (_polygons[i].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION) {
 			++num_inclusion_polygons;
 		}
 
-		if (_polygons[i].fence_type == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) {
+		if (_polygons[i].fence_type == NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION) {
 			++num_exclusion_polygons;
 		}
 
-		if (_polygons[i].fence_type == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION) {
+		if (_polygons[i].fence_type == NAV_CMD_FENCE_CIRCLE_INCLUSION) {
 			++num_inclusion_circles;
 		}
 
-		if (_polygons[i].fence_type == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION) {
+		if (_polygons[i].fence_type == NAV_CMD_FENCE_CIRCLE_EXCLUSION) {
 			++num_exclusion_circles;
 		}
 	}

src/modules/navigator/navigation.h

@@ -90,6 +90,11 @@ enum NAV_CMD {
 	NAV_CMD_VIDEO_START_CAPTURE = 2500,
 	NAV_CMD_VIDEO_STOP_CAPTURE = 2501,
 	NAV_CMD_DO_VTOL_TRANSITION = 3000,
+	NAV_CMD_FENCE_RETURN_POINT = 5000,
+	NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION = 5001,
+	NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION = 5002,
+	NAV_CMD_FENCE_CIRCLE_INCLUSION = 5003,
+	NAV_CMD_FENCE_CIRCLE_EXCLUSION = 5004,
 	NAV_CMD_INVALID = UINT16_MAX /* ensure that casting a large number results in a specific error */
 };
 
@@ -98,6 +103,22 @@ enum ORIGIN {
 	ORIGIN_ONBOARD
 };
 
+/* compatible to mavlink MAV_FRAME */
+enum NAV_FRAME {
+	NAV_FRAME_GLOBAL = 0,
+	NAV_FRAME_LOCAL_NED = 1,
+	NAV_FRAME_MISSION = 2,
+	NAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
+	NAV_FRAME_LOCAL_ENU = 4,
+	NAV_FRAME_GLOBAL_INT = 5,
+	NAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6,
+	NAV_FRAME_LOCAL_OFFSET_NED = 7,
+	NAV_FRAME_BODY_NED = 8,
+	NAV_FRAME_BODY_OFFSET_NED = 9,
+	NAV_FRAME_GLOBAL_TERRAIN_ALT = 10,
+	NAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
+};
+
 /**
  * @addtogroup topics
  * @{