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| author | Julian Oes <julian@oes.ch> | 2013-12-03 16:25:11 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-12-03 16:25:11 +0100 |
| commit | 83b09614e71c7ea68db1081a673e53bca2d9422f (patch) | |
| tree | 26623ee191e2629e2f7deaf2766f053f51f35568 /src/modules/uORB/topics/mission.h | |
| parent | 69888d28a5bbb5ba86e3976e694b51356d1c5ecf (diff) | |
| download | px4-firmware-83b09614e71c7ea68db1081a673e53bca2d9422f.tar.gz px4-firmware-83b09614e71c7ea68db1081a673e53bca2d9422f.tar.bz2 px4-firmware-83b09614e71c7ea68db1081a673e53bca2d9422f.zip | |
Dataman: Start dataman and use it in waypoints and navigator instead of mission items in mission topic
Diffstat (limited to 'src/modules/uORB/topics/mission.h')
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 2427a1d57..30f06c359 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -46,6 +46,8 @@ #include <stdbool.h> #include "../uORB.h" +#define NUM_MISSIONS_SUPPORTED 256 + /* compatible to mavlink MAV_CMD */ enum NAV_CMD { NAV_CMD_WAYPOINT=16, @@ -59,6 +61,11 @@ enum NAV_CMD { NAV_CMD_PATHPLANNING=81 }; +enum ORIGIN { + ORIGIN_MAVLINK = 0, + ORIGIN_ONBOARD +}; + /** * @addtogroup topics * @{ @@ -84,11 +91,11 @@ struct mission_item_s float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */ bool autocontinue; /**< true if next waypoint should follow after this one */ int index; /**< index matching the mavlink waypoint */ + enum ORIGIN origin; /**< where the waypoint has been generated */ }; struct mission_s { - struct mission_item_s *items; unsigned count; int current_index; /**< default -1, start at the one changed latest */ }; @@ -99,6 +106,5 @@ struct mission_s /* register this as object request broker structure */ ORB_DECLARE(mission); -ORB_DECLARE(onboard_mission); #endif |