fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 00:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator / mission item: Compress fields into bitfield

Browse Source
This commit is contained in:
Lorenz Meier
2016-10-23 16:26:03 +02:00
committed by Lorenz Meier
parent 5899ce715d
commit 9821499113
8 changed files with 21 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/navigation.h
+10 -9
View File
@@ -109,7 +109,7 @@ struct mission_item_s {
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
};
float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
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, negative for counter-clockwise */
float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
float ___lat_float; /**< padding */
float ___lon_float; /**< padding */
@@ -117,17 +117,18 @@ struct mission_item_s {
};
float params[7]; /**< array to store mission command values for MAV_FRAME_MISSION ***/
};
enum NAV_CMD nav_cmd; /**< navigation command */
uint16_t nav_cmd; /**< navigation command */
int16_t do_jump_mission_index; /**< index where the do jump will go to */
uint16_t do_jump_repeat_count; /**< how many times do jump needs to be done */
uint16_t do_jump_current_count; /**< count how many times the jump has been done */
uint16_t origin; /**< where the waypoint has been generated */
bool loiter_exit_xtrack; /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
bool force_heading; /**< heading needs to be reached ***/
bool altitude_is_relative; /**< true if altitude is relative from start point */
bool autocontinue; /**< true if next waypoint should follow after this one */
int8_t frame; /**< mission frame ***/
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
struct {
uint16_t frame : 4, /**< mission frame ***/
origin : 3, /**< how the mission item was generated */
loiter_exit_xtrack : 1, /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
force_heading : 1, /**< heading needs to be reached ***/
altitude_is_relative : 1, /**< true if altitude is relative from start point */
autocontinue : 1; /**< true if next waypoint should follow after this one */
};
};
#pragma pack(pop)
#include <uORB/topics/mission.h>