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112 lines
4.0 KiB
C
112 lines
4.0 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @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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* 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 mission.h
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* Definition of a mission consisting of mission items.
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*/
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#ifndef TOPIC_MISSION_H_
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#define TOPIC_MISSION_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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#define NUM_MISSIONS_SUPPORTED 256
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/* compatible to mavlink MAV_CMD */
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enum NAV_CMD {
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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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};
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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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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 */
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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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enum NAV_CMD 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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enum ORIGIN origin; /**< where the waypoint has been generated */
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};
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struct mission_s
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{
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int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */
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unsigned count; /**< count of the missions stored in the datamanager */
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int current_index; /**< default -1, start at the one changed latest */
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};
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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(mission);
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ORB_DECLARE(onboard_mission);
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#endif
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