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navigation.h: add dataman structs for fence & save points

This commit is contained in:
Beat Küng 2017-03-24 08:36:02 +01:00 committed by Lorenz Meier
parent 65e0d63ba6
commit 40c696ff49
1 changed files with 41 additions and 3 deletions
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42
src/modules/navigator/navigation.h
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@ -105,6 +105,8 @@ enum ORIGIN {
* *
* This is the position the MAV is heading towards. If it of type loiter, * This is the position the MAV is heading towards. If it of type loiter,
* the MAV is circling around it with the given loiter radius in meters. * the MAV is circling around it with the given loiter radius in meters.
*
* Corresponds to one of the DM_KEY_WAYPOINTS_OFFBOARD_* dataman items
*/ */
#pragma pack(push, 1) #pragma pack(push, 1)
struct mission_item_s { struct mission_item_s {
@ -128,18 +130,54 @@ struct mission_item_s {
uint16_t nav_cmd; /**< navigation command */ uint16_t nav_cmd; /**< navigation command */
int16_t do_jump_mission_index; /**< index where the do jump will go to */ 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_repeat_count; /**< how many times do jump needs to be done */
union {
uint16_t do_jump_current_count; /**< count how many times the jump has been done */ uint16_t do_jump_current_count; /**< count how many times the jump has been done */
uint16_t vertex_count; /**< Polygon vertex count (geofence) */
};
struct { struct {
uint16_t frame : 4, /**< mission frame ***/ uint16_t frame : 4, /**< mission frame */
origin : 3, /**< how the mission item was generated */ 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 */ 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 ***/ force_heading : 1, /**< heading needs to be reached */
altitude_is_relative : 1, /**< true if altitude is relative from start point */ altitude_is_relative : 1, /**< true if altitude is relative from start point */
autocontinue : 1, /**< true if next waypoint should follow after this one */ autocontinue : 1, /**< true if next waypoint should follow after this one */
disable_mc_yaw : 1, /**< weathervane mode */ disable_mc_yaw : 1, /**< weathervane mode */
vtol_back_transition : 1; /**< part of the vtol back transition sequence */ vtol_back_transition : 1; /**< part of the vtol back transition sequence */
}; };
}; };
/**
* dataman housekeeping information for a specific item.
* Corresponds to the first dataman entry of DM_KEY_FENCE_POINTS and DM_KEY_SAFE_POINTS
*/
struct mission_stats_entry_s {
uint16_t num_items; /**< total number of items stored (excluding this one) */
};
/**
* Geofence vertex point.
* Corresponds to the DM_KEY_FENCE_POINTS dataman item
*/
struct mission_fence_point_s {
double lat;
double lon;
float alt;
uint16_t nav_cmd; /**< navigation command (one of MAV_CMD_NAV_FENCE_*) */
uint16_t vertex_count; /**< number of vertices in this polygon */
uint8_t frame; /**< MAV_FRAME */
};
/**
* Save Point (Rally Point).
* Corresponds to the DM_KEY_SAFE_POINTS dataman item
*/
struct mission_save_point_s {
double lat;
double lon;
float alt;
uint8_t frame; /**< MAV_FRAME */
};
#pragma pack(pop) #pragma pack(pop)
#include <uORB/topics/mission.h> #include <uORB/topics/mission.h>