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Merged beta into paul_estimator

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Lorenz Meier
2014-02-16 17:07:02 +01:00
parent 30612eb32d 5bb004a711
commit 8016032a40
206 changed files with 12072 additions and 9311 deletions
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src/modules/uORB/topics/mission.h
+35 -21
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@@ -35,8 +35,8 @@
****************************************************************************/
/**
* @file mission_item.h
* Definition of one mission item.
* @file mission.h
* Definition of a mission consisting of mission items.
*/
#ifndef TOPIC_MISSION_H_
@@ -46,14 +46,24 @@
#include <stdbool.h>
#include "../uORB.h"
#define NUM_MISSIONS_SUPPORTED 256
/* compatible to mavlink MAV_CMD */
enum NAV_CMD {
NAV_CMD_WAYPOINT = 0,
NAV_CMD_LOITER_TURN_COUNT,
NAV_CMD_LOITER_TIME_LIMIT,
NAV_CMD_LOITER_UNLIMITED,
NAV_CMD_RETURN_TO_LAUNCH,
NAV_CMD_LAND,
NAV_CMD_TAKEOFF
NAV_CMD_WAYPOINT=16,
NAV_CMD_LOITER_UNLIMITED=17,
NAV_CMD_LOITER_TURN_COUNT=18,
NAV_CMD_LOITER_TIME_LIMIT=19,
NAV_CMD_RETURN_TO_LAUNCH=20,
NAV_CMD_LAND=21,
NAV_CMD_TAKEOFF=22,
NAV_CMD_ROI=80,
NAV_CMD_PATHPLANNING=81
};
enum ORIGIN {
ORIGIN_MAVLINK = 0,
ORIGIN_ONBOARD
};
/**
@@ -69,22 +79,25 @@ enum NAV_CMD {
*/
struct mission_item_s {
bool altitude_is_relative; /**< true if altitude is relative from start point */
double lat; /**< latitude in degrees * 1E7 */
double lon; /**< longitude in degrees * 1E7 */
double lat; /**< latitude in degrees */
double lon; /**< longitude in degrees */
float altitude; /**< altitude in meters */
float yaw; /**< in radians NED -PI..+PI */
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 */
uint8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< true if loitering is enabled */
float param1;
float param2;
float param3;
float param4;
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< navigation command */
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 pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
bool autocontinue; /**< true if next waypoint should follow after this one */
enum ORIGIN origin; /**< where the waypoint has been generated */
};
struct mission_s {
struct mission_item_s *items;
unsigned count;
struct mission_s
{
int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */
unsigned count; /**< count of the missions stored in the datamanager */
int current_index; /**< default -1, start at the one changed latest */
};
/**
@@ -93,5 +106,6 @@ struct mission_s {
/* register this as object request broker structure */
ORB_DECLARE(mission);
ORB_DECLARE(onboard_mission);
#endif