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Navigation: Turn mission item into packed struct and make nav_cmd compiler-independent

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Lorenz Meier
2015-12-02 09:15:11 +01:00
parent 6828e4db2c
commit 557fd3d99b
1 changed files with 4 additions and 3 deletions
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src/modules/navigator/navigation.h
+4 -3
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@@ -81,6 +81,7 @@ enum ORIGIN {
* This is the position the MAV is heading towards. If it of type loiter, * This is the position the MAV is heading towards. If it of type loiter,
* the MAV is circling around it with the given loiter radius in meters. * the MAV is circling around it with the given loiter radius in meters.
*/ */
#pragma pack(push, 1)
struct mission_item_s { struct mission_item_s {
bool altitude_is_relative; /**< true if altitude is relative from start point */ bool altitude_is_relative; /**< true if altitude is relative from start point */
double lat; /**< latitude in degrees */ double lat; /**< latitude in degrees */
@@ -89,19 +90,19 @@ struct mission_item_s {
float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */ float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< navigation command */ unsigned nav_cmd; /**< navigation command */
float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */ float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */ float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
bool autocontinue; /**< true if next waypoint should follow after this one */ bool autocontinue; /**< true if next waypoint should follow after this one */
enum ORIGIN origin; /**< where the waypoint has been generated */ unsigned origin; /**< where the waypoint has been generated */
int do_jump_mission_index; /**< index where the do jump will go to */ int do_jump_mission_index; /**< index where the do jump will go to */
unsigned do_jump_repeat_count; /**< how many times do jump needs to be done */ unsigned do_jump_repeat_count; /**< how many times do jump needs to be done */
unsigned do_jump_current_count; /**< count how many times the jump has been done */ unsigned do_jump_current_count; /**< count how many times the jump has been done */
int actuator_num; /**< actuator number to be set 0..5 ( corresponds to AUX outputs 1..6 */ int actuator_num; /**< actuator number to be set 0..5 ( corresponds to AUX outputs 1..6 */
int actuator_value; /**< new value for selected actuator in ms 900...2000 */ int actuator_value; /**< new value for selected actuator in ms 900...2000 */
}; };
#pragma pack(pop)
#include <uORB/topics/mission.h> #include <uORB/topics/mission.h>
/** /**