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author | Julian Oes <julian@oes.ch> | 2014-06-03 16:01:28 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-03 16:01:28 +0200 |
commit | 854bb7fe089daf8bf3d4e9f2cac1cb2b99a67ac7 (patch) | |
tree | 947f86c23d10ee717a418badb662ed09694687dd /src/modules/uORB/topics | |
parent | 5f91fe7d15e382b8903cb01c30e28c857f5cfdbe (diff) | |
download | px4-firmware-854bb7fe089daf8bf3d4e9f2cac1cb2b99a67ac7.tar.gz px4-firmware-854bb7fe089daf8bf3d4e9f2cac1cb2b99a67ac7.tar.bz2 px4-firmware-854bb7fe089daf8bf3d4e9f2cac1cb2b99a67ac7.zip |
navigator: mission class added (WIP)
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/mission.h | 12 | ||||
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 30 |
2 files changed, 16 insertions, 26 deletions
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 4532b329d..d25db3a77 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -1,9 +1,6 @@ /**************************************************************************** * * Copyright (C) 2012 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 @@ -37,6 +34,9 @@ /** * @file mission.h * Definition of a mission consisting of mission items. + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef TOPIC_MISSION_H_ @@ -92,9 +92,9 @@ struct mission_item_s { float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ bool autocontinue; /**< true if next waypoint should follow after this one */ enum ORIGIN origin; /**< where the waypoint has been generated */ - int do_jump_mission_index; /**< the mission index that we want to jump to */ - int do_jump_repeat_count; /**< how many times the jump should be repeated */ - int do_jump_current_count; /**< how many times the jump has already been repeated */ + int do_jump_mission_index; /**< index where the do jump will go to */ + unsigned do_jump_repeat_count; /**< how many times do jump needs to be done */ + unsigned do_jump_current_count; /**< count how many times the jump has been done */ }; struct mission_s diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index c2741a05b..ce42035ba 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -1,9 +1,6 @@ /**************************************************************************** * * 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 @@ -37,6 +34,10 @@ /** * @file mission_item_triplet.h * Definition of the global WGS84 position setpoint uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #ifndef TOPIC_MISSION_ITEM_TRIPLET_H_ @@ -53,11 +54,12 @@ enum SETPOINT_TYPE { - SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */ - SETPOINT_TYPE_LOITER, /**< loiter setpoint */ - SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ - SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, vehicle must descend until landing */ - SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ + SETPOINT_TYPE_POSITION = 0, /**< position setpoint */ + SETPOINT_TYPE_VELOCITY, /**< velocity setpoint */ + SETPOINT_TYPE_LOITER, /**< loiter setpoint */ + SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ + SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, descend until landing */ + SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ }; struct position_setpoint_s @@ -73,16 +75,6 @@ struct position_setpoint_s float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ }; -typedef enum { - NAV_STATE_MANUAL = 0, - NAV_STATE_POSCTL, - NAV_STATE_AUTO, - NAV_STATE_RC_LOSS, - NAV_STATE_DL_LOSS, - NAV_STATE_TERMINATION, - MAX_NAV_STATE -} nav_state_t; - /** * Global position setpoint triplet in WGS84 coordinates. * @@ -93,8 +85,6 @@ struct position_setpoint_triplet_s struct position_setpoint_s previous; struct position_setpoint_s current; struct position_setpoint_s next; - - nav_state_t nav_state; /**< navigation state */ }; /** |