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Diffstat (limited to 'src/modules/uORB/topics/mission.h')
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h new file mode 100644 index 000000000..978a3383a --- /dev/null +++ b/src/modules/uORB/topics/mission.h @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mission_item.h + * Definition of one mission item. + */ + +#ifndef TOPIC_MISSION_H_ +#define TOPIC_MISSION_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +enum NAV_CMD { + NAV_CMD_WAYPOINT = 0, + NAV_CMD_LOITER_TURN_COUNT, + NAV_CMD_LOITER_TIME_LIMIT, + NAV_CMD_LOITER_UNLIMITED, + NAV_CMD_RETURN_TO_LAUNCH, + NAV_CMD_LAND, + NAV_CMD_TAKEOFF +}; + +/** + * @addtogroup topics + * @{ + */ + +/** + * Global position setpoint in WGS84 coordinates. + * + * 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. + */ +struct mission_item_s +{ + bool altitude_is_relative; /**< true if altitude is relative from start point */ + double lat; /**< latitude in degrees * 1E7 */ + double lon; /**< longitude in degrees * 1E7 */ + float altitude; /**< altitude in meters */ + float yaw; /**< in radians NED -PI..+PI */ + float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ + uint8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ + enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ + float param1; + float param2; + float param3; + float param4; +}; + +struct mission_s +{ + struct mission_item_s *items; + unsigned count; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(mission); + +#endif |