Cut over MAVLink to new build system

1 files changed, 131 insertions, 0 deletions

diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h
new file mode 100644
index 000000000..c32ab32e5
--- /dev/null
+++ b/src/modules/mavlink/waypoints.h
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.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 waypoints.h
+ * MAVLink waypoint protocol definition (BSD-relicensed).
+ */
+
+#ifndef WAYPOINTS_H_
+#define WAYPOINTS_H_
+
+/* This assumes you have the mavlink headers on your include path
+ or in the same folder as this source file */
+
+#include <v1.0/mavlink_types.h>
+
+#ifndef MAVLINK_SEND_UART_BYTES
+#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)
+#endif
+extern mavlink_system_t mavlink_system;
+#include <v1.0/common/mavlink.h>
+#include <stdbool.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
+
+// FIXME XXX - TO BE MOVED TO XML
+enum MAVLINK_WPM_STATES {
+	MAVLINK_WPM_STATE_IDLE = 0,
+	MAVLINK_WPM_STATE_SENDLIST,
+	MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
+	MAVLINK_WPM_STATE_GETLIST,
+	MAVLINK_WPM_STATE_GETLIST_GETWPS,
+	MAVLINK_WPM_STATE_GETLIST_GOTALL,
+	MAVLINK_WPM_STATE_ENUM_END
+};
+
+enum MAVLINK_WPM_CODES {
+	MAVLINK_WPM_CODE_OK = 0,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
+	MAVLINK_WPM_CODE_ENUM_END
+};
+
+
+/* WAYPOINT MANAGER - MISSION LIB */
+
+#define MAVLINK_WPM_MAX_WP_COUNT 15
+#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE				  ///< Enable double buffer and in-flight updates
+#ifndef MAVLINK_WPM_TEXT_FEEDBACK
+#define MAVLINK_WPM_TEXT_FEEDBACK 0						  ///< Report back status information as text
+#endif
+#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000         ///< Protocol communication timeout in useconds
+#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000           ///< When to send a new setpoint
+#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
+
+
+struct mavlink_wpm_storage {
+	mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT];      ///< Currently active waypoints
+#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE
+	mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT];  ///< Receive buffer for next waypoints
+#endif
+	uint16_t size;
+	uint16_t max_size;
+	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
+	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;
+	uint32_t timeout;
+	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 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);
+void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos ,
+				 struct vehicle_local_position_s *local_pos);
+
+extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
+		float param2, float param3, float param4, float param5_lat_x,
+		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
+
+#endif /* WAYPOINTS_H_ */