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Navigator: Leverage overlapping fields in logic to save RAM by makeing them overlap in memory as well

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Lorenz Meier 2016-10-19 19:41:26 +02:00 committed by Lorenz Meier
parent 4160b65edb
commit 5899ce715d
1 changed files with 26 additions and 18 deletions
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36
src/modules/navigator/navigation.h
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@ -100,26 +100,34 @@ enum ORIGIN {
*/
#pragma pack(push, 1)
struct mission_item_s {
bool altitude_is_relative; /**< true if altitude is relative from start point */
double lat; /**< latitude in degrees */
double lon; /**< longitude in degrees */
float altitude; /**< altitude in meters (AMSL) */
float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
bool loiter_exit_xtrack; /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
enum NAV_CMD nav_cmd; /**< navigation command */
float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
union {
struct {
union {
float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
bool autocontinue; /**< true if next waypoint should follow after this one */
unsigned origin; /**< where the waypoint has been generated */
int do_jump_mission_index; /**< index where the do jump will go to */
unsigned do_jump_repeat_count; /**< how many times do jump needs to be done */
unsigned do_jump_current_count; /**< count how many times the jump has been done */
};
float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
float ___lat_float; /**< padding */
float ___lon_float; /**< padding */
float altitude; /**< altitude in meters (AMSL) */
};
float params[7]; /**< array to store mission command values for MAV_FRAME_MISSION ***/
int8_t frame; /**< mission frame ***/
};
enum NAV_CMD nav_cmd; /**< navigation command */
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_current_count; /**< count how many times the jump has been done */
uint16_t origin; /**< where the waypoint has been generated */
bool loiter_exit_xtrack; /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
bool force_heading; /**< heading needs to be reached ***/
bool altitude_is_relative; /**< true if altitude is relative from start point */
bool autocontinue; /**< true if next waypoint should follow after this one */
int8_t frame; /**< mission frame ***/
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
};
#pragma pack(pop)
#include <uORB/topics/mission.h>