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125 lines
4.7 KiB
C
125 lines
4.7 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file navigation.h
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* Definition of a mission consisting of mission items.
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#ifndef NAVIGATION_H_
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#define NAVIGATION_H_
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#include <stdint.h>
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#include <stdbool.h>
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#define NUM_MISSIONS_SUPPORTED 256
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#define NAV_EPSILON_POSITION 0.001f /**< Anything smaller than this is considered zero */
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/* compatible to mavlink MAV_CMD */
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enum NAV_CMD {
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NAV_CMD_IDLE = 0,
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NAV_CMD_WAYPOINT = 16,
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NAV_CMD_LOITER_UNLIMITED = 17,
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NAV_CMD_LOITER_TURN_COUNT = 18,
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NAV_CMD_LOITER_TIME_LIMIT = 19,
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NAV_CMD_RETURN_TO_LAUNCH = 20,
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NAV_CMD_LAND = 21,
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NAV_CMD_TAKEOFF = 22,
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NAV_CMD_ROI = 80,
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NAV_CMD_PATHPLANNING = 81,
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NAV_CMD_FOLLOW_TARGET = 194, // temporary placeholder
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NAV_CMD_DO_JUMP = 177,
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NAV_CMD_DO_CHANGE_SPEED = 178,
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NAV_CMD_DO_SET_SERVO=183,
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NAV_CMD_DO_REPEAT_SERVO=184,
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NAV_CMD_DO_DIGICAM_CONTROL=203,
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NAV_CMD_DO_SET_CAM_TRIGG_DIST=206,
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NAV_CMD_DO_VTOL_TRANSITION=3000,
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NAV_CMD_INVALID=UINT16_MAX /* ensure that casting a large number results in a specific error */
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};
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enum ORIGIN {
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ORIGIN_MAVLINK = 0,
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ORIGIN_ONBOARD
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};
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/**
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* @addtogroup topics
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* @{
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*/
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/**
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* Global position setpoint in WGS84 coordinates.
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*
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* This is the position the MAV is heading towards. If it of type loiter,
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* the MAV is circling around it with the given loiter radius in meters.
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*/
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#pragma pack(push, 1)
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struct mission_item_s {
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bool altitude_is_relative; /**< true if altitude is relative from start point */
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double lat; /**< latitude in degrees */
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double lon; /**< longitude in degrees */
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float altitude; /**< altitude in meters (AMSL) */
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float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
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float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
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int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
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unsigned nav_cmd; /**< navigation command */
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float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
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float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
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float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
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bool autocontinue; /**< true if next waypoint should follow after this one */
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unsigned origin; /**< where the waypoint has been generated */
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int do_jump_mission_index; /**< index where the do jump will go to */
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unsigned do_jump_repeat_count; /**< how many times do jump needs to be done */
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unsigned do_jump_current_count; /**< count how many times the jump has been done */
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float params[7]; /**< array to store mission command values for MAV_FRAME_MISSION ***/
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int8_t frame; /**< mission frame ***/
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bool force_heading; /**< heading needs to be reached ***/
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};
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#pragma pack(pop)
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#include <uORB/topics/mission.h>
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(offboard_mission);
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ORB_DECLARE(onboard_mission);
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#endif
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