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Mission topic: Use mission topic instead of global position for triplet

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Julian Oes
2013-11-20 12:46:25 +01:00
parent a9e51105c8
commit a6c5a19206
9 changed files with 100 additions and 97 deletions
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src/modules/uORB/objects_common.cpp
+2 -2
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@@ -120,8 +120,8 @@ ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setp
#include "topics/vehicle_global_position_setpoint.h"
ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
#include "topics/vehicle_global_position_set_triplet.h"
ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
#include "topics/mission_item_triplet.h"
ORB_DEFINE(mission_item_triplet, struct mission_item_triplet_s);
#include "topics/vehicle_global_velocity_setpoint.h"
ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
src/modules/uORB/topics/vehicle_global_position_set_triplet.h → src/modules/uORB/topics/mission_item_triplet.h
+13 -12
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2013 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>
@@ -35,18 +35,18 @@
****************************************************************************/
/**
* @file vehicle_global_position_setpoint.h
* @file mission_item_triplet.h
* Definition of the global WGS84 position setpoint uORB topic.
*/
#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
#define TOPIC_MISSION_ITEM_TRIPLET_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#include "vehicle_global_position_setpoint.h"
#include "mission.h"
/**
* @addtogroup topics
@@ -58,14 +58,15 @@
*
* This are the three next waypoints (or just the next two or one).
*/
struct vehicle_global_position_set_triplet_s
struct mission_item_triplet_s
{
bool previous_valid; /**< flag indicating previous position is valid */
bool next_valid; /**< flag indicating next position is valid */
bool previous_valid;
bool current_valid; /**< flag indicating previous mission item is valid */
bool next_valid; /**< flag indicating next mission item is valid */
struct vehicle_global_position_setpoint_s previous;
struct vehicle_global_position_setpoint_s current;
struct vehicle_global_position_setpoint_s next;
struct mission_item_s previous;
struct mission_item_s current;
struct mission_item_s next;
};
/**
@@ -73,6 +74,6 @@ struct vehicle_global_position_set_triplet_s
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_position_set_triplet);
ORB_DECLARE(mission_item_triplet);
#endif