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/**
* @file mission.h
* Definition of a mission consisting of mission items.
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef TOPIC_MISSION_H_
#define TOPIC_MISSION_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#define NUM_MISSIONS_SUPPORTED 256
/* compatible to mavlink MAV_CMD */
enum NAV_CMD {
NAV_CMD_WAYPOINT=16,
NAV_CMD_LOITER_UNLIMITED=17,
NAV_CMD_LOITER_TURN_COUNT=18,
NAV_CMD_LOITER_TIME_LIMIT=19,
NAV_CMD_RETURN_TO_LAUNCH=20,
NAV_CMD_LAND=21,
NAV_CMD_TAKEOFF=22,
NAV_CMD_ROI=80,
NAV_CMD_PATHPLANNING=81,
NAV_CMD_DO_JUMP=177
};
enum ORIGIN {
ORIGIN_MAVLINK = 0,
ORIGIN_ONBOARD
};
/**
* @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 */
double lon; /**< longitude in degrees */
float altitude; /**< altitude in meters */
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. */
enum NAV_CMD nav_cmd; /**< navigation command */
float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
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 */
enum ORIGIN 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 */
};
struct mission_s
{
int dataman_id; /**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
unsigned count; /**< count of the missions stored in the dataman */
int current_index; /**< default -1, start at the one changed latest */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(offboard_mission);
ORB_DECLARE(onboard_mission);
#endif