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author | Julian Oes <julian@oes.ch> | 2013-11-27 09:27:08 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2013-11-27 09:27:08 +0100 |
commit | 3f252987988738d9246eec9716b780d23cb8b0f7 (patch) | |
tree | 9d4ecb7f169b696fd28af22ea496f7c28fb42712 /src/modules/uORB | |
parent | 9c1a5be8e16d18612c8e318355fef15e53961da7 (diff) | |
download | px4-firmware-3f252987988738d9246eec9716b780d23cb8b0f7.tar.gz px4-firmware-3f252987988738d9246eec9716b780d23cb8b0f7.tar.bz2 px4-firmware-3f252987988738d9246eec9716b780d23cb8b0f7.zip |
Mavlink and navigator: Disable some functions in mavlink that are taken over by navigator, introduce topic to report mission status from commander back to mavlink
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/mission_result.h | 67 |
2 files changed, 70 insertions, 0 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index ecc1a3b3a..e73e7ff8d 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -129,6 +129,9 @@ ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setp #include "topics/mission.h" ORB_DEFINE(mission, struct mission_s); +#include "topics/mission_result.h" +ORB_DEFINE(mission_result, struct mission_result_s); + #include "topics/fence.h" ORB_DEFINE(fence, unsigned); diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h new file mode 100644 index 000000000..c99706b97 --- /dev/null +++ b/src/modules/uORB/topics/mission_result.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * 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 + * 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_result.h + * Mission results that navigator needs to pass on to commander and mavlink. + */ + +#ifndef TOPIC_MISSION_RESULT_H +#define TOPIC_MISSION_RESULT_H + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct mission_result_s +{ + bool mission_reached; /**< true if mission has been reached */ + unsigned mission_index; /**< index of the mission which has been reached */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(mission_result); + +#endif |