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topics: move geofence status to its own topic

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Ban Siesta
2014-12-19 22:26:31 +00:00
parent 19d5383c56
commit 2a09473e5f
6 changed files with 137 additions and 30 deletions
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src/modules/uORB/objects_common.cpp
+4 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -148,6 +148,9 @@ ORB_DEFINE(onboard_mission, struct mission_s);
#include "topics/mission_result.h"
ORB_DEFINE(mission_result, struct mission_result_s);
#include "topics/geofence_result.h"
ORB_DEFINE(geofence_result, struct geofence_result_s);
#include "topics/fence.h"
ORB_DEFINE(fence, unsigned);
src/modules/uORB/topics/geofence_result.h
+65
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@@ -0,0 +1,65 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file geofence_result.h
* Status of the plance concerning the geofence
*
* @author Ban Siesta <bansiesta@gmail.com>
*/
#ifndef TOPIC_GEOFENCE_RESULT_H
#define TOPIC_GEOFENCE_RESULT_H
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct geofence_result_s
{
bool geofence_violated; /**< true if the geofence is violated */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(geofence_result);
#endif
src/modules/uORB/topics/mission_result.h
+6 -5
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@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,6 +34,11 @@
/**
* @file mission_result.h
* Mission results that navigator needs to pass on to commander and mavlink.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Ban Siesta <bansiesta@gmail.com>
*/
#ifndef TOPIC_MISSION_RESULT_H
@@ -58,7 +60,6 @@ struct mission_result_s
bool reached; /**< true if mission has been reached */
bool finished; /**< true if mission has been completed */
bool stay_in_failsafe; /**< true if the commander should not switch out of the failsafe mode*/
bool geofence_violated; /**< true if the geofence is violated */
bool flight_termination; /**< true if the navigator demands a flight termination from the commander app */
};