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author | Julian Oes <julian@oes.ch> | 2013-11-18 13:00:09 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2013-11-18 13:00:09 +0100 |
commit | 29578a56049cf79b7d983d11ef4b1fa87b00a5d9 (patch) | |
tree | 5b5577cb2bc9d6f804f2343c2ce46ad0135bce34 /src/modules/uORB/topics | |
parent | 39634d100104b64f205b69017562b3ac549cf264 (diff) | |
parent | 1cf9f72f628c5dbdf487e464699245cab61c1750 (diff) | |
download | px4-firmware-29578a56049cf79b7d983d11ef4b1fa87b00a5d9.tar.gz px4-firmware-29578a56049cf79b7d983d11ef4b1fa87b00a5d9.tar.bz2 px4-firmware-29578a56049cf79b7d983d11ef4b1fa87b00a5d9.zip |
Merge remote-tracking branch 'jean-m-cyr/master' into navigator_wip
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/fence.h | 80 |
1 files changed, 80 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/fence.h b/src/modules/uORB/topics/fence.h new file mode 100644 index 000000000..6f16c51cf --- /dev/null +++ b/src/modules/uORB/topics/fence.h @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Jean Cyr <jean.m.cyr@gmail.com> + * + * 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 fence.h + * Definition of geofence. + */ + +#ifndef TOPIC_FENCE_H_ +#define TOPIC_FENCE_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +#define GEOFENCE_MAX_VERTICES 16 + +/** + * This is the position of a geofence vertex + * + */ +struct fence_vertex_s { + // Worst case float precision gives us 2 meter resolution at the equator + float lat; /**< latitude in degrees */ + float lon; /**< longitude in degrees */ +}; + +/** + * This is the position of a geofence + * + */ +struct fence_s { + unsigned count; /**< number of actual vertices */ + struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES]; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(fence); + +#endif |