forked from Archive/PX4-Autopilot
132 lines
5.1 KiB
C
132 lines
5.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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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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*
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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 waypoints.h
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* MAVLink waypoint protocol definition (BSD-relicensed).
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*/
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#ifndef WAYPOINTS_H_
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#define WAYPOINTS_H_
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/* This assumes you have the mavlink headers on your include path
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or in the same folder as this source file */
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#include <v1.0/mavlink_types.h>
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#ifndef MAVLINK_SEND_UART_BYTES
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#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)
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#endif
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extern mavlink_system_t mavlink_system;
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#include <v1.0/common/mavlink.h>
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#include <stdbool.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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// FIXME XXX - TO BE MOVED TO XML
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enum MAVLINK_WPM_STATES {
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MAVLINK_WPM_STATE_IDLE = 0,
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MAVLINK_WPM_STATE_SENDLIST,
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MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
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MAVLINK_WPM_STATE_GETLIST,
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MAVLINK_WPM_STATE_GETLIST_GETWPS,
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MAVLINK_WPM_STATE_GETLIST_GOTALL,
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MAVLINK_WPM_STATE_ENUM_END
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};
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enum MAVLINK_WPM_CODES {
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MAVLINK_WPM_CODE_OK = 0,
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MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
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MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
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MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
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MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
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MAVLINK_WPM_CODE_ENUM_END
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};
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/* WAYPOINT MANAGER - MISSION LIB */
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#define MAVLINK_WPM_MAX_WP_COUNT 15
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#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates
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#ifndef MAVLINK_WPM_TEXT_FEEDBACK
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#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text
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#endif
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#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
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#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
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#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
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struct mavlink_wpm_storage {
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mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints
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#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE
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mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints
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#endif
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uint16_t size;
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uint16_t max_size;
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uint16_t rcv_size;
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enum MAVLINK_WPM_STATES current_state;
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uint16_t current_wp_id; ///< Waypoint in current transmission
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uint16_t current_active_wp_id; ///< Waypoint the system is currently heading towards
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uint16_t current_count;
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uint8_t current_partner_sysid;
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uint8_t current_partner_compid;
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uint64_t timestamp_lastaction;
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uint64_t timestamp_last_send_setpoint;
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uint64_t timestamp_firstinside_orbit;
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uint64_t timestamp_lastoutside_orbit;
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uint32_t timeout;
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uint32_t delay_setpoint;
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float accept_range_yaw;
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float accept_range_distance;
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bool yaw_reached;
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bool pos_reached;
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bool idle;
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};
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typedef struct mavlink_wpm_storage mavlink_wpm_storage;
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void mavlink_wpm_init(mavlink_wpm_storage *state);
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int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position,
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struct vehicle_local_position_s *local_pos);
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void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos ,
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struct vehicle_local_position_s *local_pos);
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extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
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float param2, float param3, float param4, float param5_lat_x,
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float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
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#endif /* WAYPOINTS_H_ */
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