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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-23 12:16:02 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-23 12:16:02 +0100 |
commit | 6acb8fa66f38d20af57b8c45cc7878257abb24d2 (patch) | |
tree | 8227872dfb5bafdcf9bfa1e5fa0de0a49becf3a6 /src/modules/uORB/topics | |
parent | 6c07a5c2cf83642a192aefccf82f942e6e7c01a5 (diff) | |
download | px4-firmware-6acb8fa66f38d20af57b8c45cc7878257abb24d2.tar.gz px4-firmware-6acb8fa66f38d20af57b8c45cc7878257abb24d2.tar.bz2 px4-firmware-6acb8fa66f38d20af57b8c45cc7878257abb24d2.zip |
Replace mission_item_triplet with position_setpoint_triplet, WIP
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h (renamed from src/modules/uORB/topics/mission_item_triplet.h) | 38 |
1 files changed, 23 insertions, 15 deletions
diff --git a/src/modules/uORB/topics/mission_item_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index b35eae607..a8bd6b8e3 100644 --- a/src/modules/uORB/topics/mission_item_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -46,31 +46,39 @@ #include <stdbool.h> #include "../uORB.h" -#include "mission.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 mission_item_triplet_s +struct position_setpoint_triplet_s { - bool previous_valid; - bool current_valid; /**< flag indicating previous mission item is valid */ - bool next_valid; /**< flag indicating next mission item is valid */ - - struct mission_item_s previous; - struct mission_item_s current; - struct mission_item_s next; - - int previous_index; - int current_index; - int next_index; + struct position_setpoint_s previous; + struct position_setpoint_s current; + struct position_setpoint_s next; }; /** @@ -78,6 +86,6 @@ struct mission_item_triplet_s */ /* register this as object request broker structure */ -ORB_DECLARE(mission_item_triplet); +ORB_DECLARE(position_setpoint_triplet); #endif |