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110 lines
4.1 KiB
C
110 lines
4.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2013 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 mission_item_triplet.h
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* Definition of the global WGS84 position setpoint uORB topic.
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*
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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 TOPIC_MISSION_ITEM_TRIPLET_H_
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#define TOPIC_MISSION_ITEM_TRIPLET_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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/**
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* @addtogroup topics
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* @{
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*/
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enum SETPOINT_TYPE
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{
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SETPOINT_TYPE_POSITION = 0, /**< position setpoint */
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SETPOINT_TYPE_VELOCITY, /**< velocity setpoint */
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SETPOINT_TYPE_LOITER, /**< loiter setpoint */
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SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */
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SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, descend until landing */
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SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */
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SETPOINT_TYPE_OFFBOARD, /**< setpoint set by offboard */
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};
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struct position_setpoint_s
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{
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bool valid; /**< true if setpoint is valid */
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enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */
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float x; /**< local position setpoint in m in NED */
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float y; /**< local position setpoint in m in NED */
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float z; /**< local position setpoint in m in NED */
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bool position_valid; /**< true if local position setpoint valid */
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float vx; /**< local velocity setpoint in m in NED */
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float vy; /**< local velocity setpoint in m in NED */
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float vz; /**< local velocity setpoint in m in NED */
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bool velocity_valid; /**< true if local velocity setpoint valid */
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double lat; /**< latitude, in deg */
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double lon; /**< longitude, in deg */
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float alt; /**< altitude AMSL, in m */
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float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
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float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */
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float loiter_radius; /**< loiter radius (only for fixed wing), in m */
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int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */
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float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
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};
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/**
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* Global position setpoint triplet in WGS84 coordinates.
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*
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* This are the three next waypoints (or just the next two or one).
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*/
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struct position_setpoint_triplet_s
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{
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struct position_setpoint_s previous;
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struct position_setpoint_s current;
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struct position_setpoint_s next;
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unsigned nav_state; /**< report the navigation state */
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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(position_setpoint_triplet);
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#endif
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