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131 lines
5.1 KiB
131 lines
5.1 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
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* @author Thomas Gubler <thomasgubler@student.ethz.ch> |
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* @author Julian Oes <joes@student.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file waypoints.h |
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* MAVLink waypoint protocol definition (BSD-relicensed). |
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*/ |
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#ifndef WAYPOINTS_H_ |
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#define WAYPOINTS_H_ |
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/* This assumes you have the mavlink headers on your include path |
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or in the same folder as this source file */ |
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#include <v1.0/mavlink_types.h> |
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#ifndef MAVLINK_SEND_UART_BYTES |
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#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) |
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#endif |
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extern mavlink_system_t mavlink_system; |
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#include <v1.0/common/mavlink.h> |
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#include <stdbool.h> |
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#include <uORB/topics/vehicle_global_position.h> |
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#include <uORB/topics/vehicle_local_position.h> |
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// FIXME XXX - TO BE MOVED TO XML |
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enum MAVLINK_WPM_STATES { |
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MAVLINK_WPM_STATE_IDLE = 0, |
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MAVLINK_WPM_STATE_SENDLIST, |
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MAVLINK_WPM_STATE_SENDLIST_SENDWPS, |
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MAVLINK_WPM_STATE_GETLIST, |
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MAVLINK_WPM_STATE_GETLIST_GETWPS, |
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MAVLINK_WPM_STATE_GETLIST_GOTALL, |
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MAVLINK_WPM_STATE_ENUM_END |
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}; |
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enum MAVLINK_WPM_CODES { |
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MAVLINK_WPM_CODE_OK = 0, |
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MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, |
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MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, |
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MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, |
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MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, |
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MAVLINK_WPM_CODE_ENUM_END |
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}; |
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/* WAYPOINT MANAGER - MISSION LIB */ |
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#define MAVLINK_WPM_MAX_WP_COUNT 15 |
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#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates |
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#ifndef MAVLINK_WPM_TEXT_FEEDBACK |
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#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text |
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#endif |
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#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds |
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#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint |
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#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 |
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struct mavlink_wpm_storage { |
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mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints |
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#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE |
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mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints |
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#endif |
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uint16_t size; |
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uint16_t max_size; |
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uint16_t rcv_size; |
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enum MAVLINK_WPM_STATES current_state; |
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uint16_t current_wp_id; ///< Waypoint in current transmission |
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uint16_t current_active_wp_id; ///< Waypoint the system is currently heading towards |
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uint16_t current_count; |
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uint8_t current_partner_sysid; |
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uint8_t current_partner_compid; |
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uint64_t timestamp_lastaction; |
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uint64_t timestamp_last_send_setpoint; |
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uint64_t timestamp_firstinside_orbit; |
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uint64_t timestamp_lastoutside_orbit; |
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uint32_t timeout; |
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uint32_t delay_setpoint; |
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float accept_range_yaw; |
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float accept_range_distance; |
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bool yaw_reached; |
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bool pos_reached; |
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bool idle; |
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}; |
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typedef struct mavlink_wpm_storage mavlink_wpm_storage; |
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void mavlink_wpm_init(mavlink_wpm_storage *state); |
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int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, |
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struct vehicle_local_position_s *local_pos); |
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void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , |
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struct vehicle_local_position_s *local_pos); |
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extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, |
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float param2, float param3, float param4, float param5_lat_x, |
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float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); |
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#endif /* WAYPOINTS_H_ */
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