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author | Julian Oes <julian@oes.ch> | 2013-11-27 09:27:08 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2013-11-27 09:27:08 +0100 |
commit | 3f252987988738d9246eec9716b780d23cb8b0f7 (patch) | |
tree | 9d4ecb7f169b696fd28af22ea496f7c28fb42712 /src/modules/mavlink/waypoints.h | |
parent | 9c1a5be8e16d18612c8e318355fef15e53961da7 (diff) | |
download | px4-firmware-3f252987988738d9246eec9716b780d23cb8b0f7.tar.gz px4-firmware-3f252987988738d9246eec9716b780d23cb8b0f7.tar.bz2 px4-firmware-3f252987988738d9246eec9716b780d23cb8b0f7.zip |
Mavlink and navigator: Disable some functions in mavlink that are taken over by navigator, introduce topic to report mission status from commander back to mavlink
Diffstat (limited to 'src/modules/mavlink/waypoints.h')
-rw-r--r-- | src/modules/mavlink/waypoints.h | 25 |
1 files changed, 15 insertions, 10 deletions
diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index d7d6b31dc..04759ec2d 100644 --- a/src/modules/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h @@ -56,6 +56,7 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/navigation_capabilities.h> +#include <uORB/topics/mission.h> // FIXME XXX - TO BE MOVED TO XML enum MAVLINK_WPM_STATES { @@ -100,25 +101,29 @@ struct mavlink_wpm_storage { uint16_t rcv_size; enum MAVLINK_WPM_STATES current_state; int16_t current_wp_id; ///< Waypoint in current transmission - int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards + // int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards uint16_t current_count; uint8_t current_partner_sysid; uint8_t current_partner_compid; uint64_t timestamp_lastaction; - uint64_t timestamp_last_send_setpoint; - uint64_t timestamp_firstinside_orbit; - uint64_t timestamp_lastoutside_orbit; + // uint64_t timestamp_last_send_setpoint; + // uint64_t timestamp_firstinside_orbit; + // uint64_t timestamp_lastoutside_orbit; uint32_t timeout; - uint32_t delay_setpoint; - float accept_range_yaw; - float accept_range_distance; - bool yaw_reached; - bool pos_reached; - bool idle; + // uint32_t delay_setpoint; + // float accept_range_yaw; + // float accept_range_distance; + // bool yaw_reached; + // bool pos_reached; + // bool idle; }; typedef struct mavlink_wpm_storage mavlink_wpm_storage; +void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item); +void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item); + + void mavlink_wpm_init(mavlink_wpm_storage *state); int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_pos, struct navigation_capabilities_s *nav_cap); |