Replace mission_item_triplet with position_setpoint_triplet, WIP

1 files changed, 91 insertions, 0 deletions

diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
new file mode 100644
index 000000000..a8bd6b8e3
--- /dev/null
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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_triplet.h
+ * Definition of the global WGS84 position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
+#define TOPIC_MISSION_ITEM_TRIPLET_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+enum SETPOINT_TYPE
+{
+	SETPOINT_TYPE_NORMAL = 0,
+	SETPOINT_TYPE_LOITER,
+	SETPOINT_TYPE_TAKEOFF,
+	SETPOINT_TYPE_LAND,
+};
+
+struct position_setpoint_s
+{
+	bool valid;					/**< true if point is valid */
+	double lat;					/**< latitude, in deg */
+	double lon;					/**< longitude, in deg */
+	float alt;					/**< altitude AMSL, in m */
+	float yaw;					/**< yaw (only for multirotors), in rad [-PI..PI), NaN to hold current yaw */
+	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
+};
+
+/**
+ * Global position setpoint triplet in WGS84 coordinates.
+ *
+ * This are the three next waypoints (or just the next two or one).
+ */
+struct position_setpoint_triplet_s
+{
+	struct position_setpoint_s previous;
+	struct position_setpoint_s current;
+	struct position_setpoint_s next;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(position_setpoint_triplet);
+
+#endif