diff options
Diffstat (limited to 'apps/mavlink/waypoints.h')
-rw-r--r-- | apps/mavlink/waypoints.h | 128 |
1 files changed, 128 insertions, 0 deletions
diff --git a/apps/mavlink/waypoints.h b/apps/mavlink/waypoints.h new file mode 100644 index 000000000..6011b16b2 --- /dev/null +++ b/apps/mavlink/waypoints.h @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.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 waypoints.h + * MAVLink waypoint protocol definition (BSD-relicensed). + */ + +#ifndef WAYPOINTS_H_ +#define WAYPOINTS_H_ + +/* This assumes you have the mavlink headers on your include path + or in the same folder as this source file */ + +#include <v1.0/mavlink_types.h> +extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *buffer, uint16_t len); + +#ifndef MAVLINK_SEND_UART_BYTES +#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) +#endif +extern mavlink_system_t mavlink_system; +#include <v1.0/common/mavlink.h> +#include <stdbool.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.h> + +// FIXME XXX - TO BE MOVED TO XML +enum MAVLINK_WPM_STATES { + MAVLINK_WPM_STATE_IDLE = 0, + MAVLINK_WPM_STATE_SENDLIST, + MAVLINK_WPM_STATE_SENDLIST_SENDWPS, + MAVLINK_WPM_STATE_GETLIST, + MAVLINK_WPM_STATE_GETLIST_GETWPS, + MAVLINK_WPM_STATE_GETLIST_GOTALL, + MAVLINK_WPM_STATE_ENUM_END +}; + +enum MAVLINK_WPM_CODES { + MAVLINK_WPM_CODE_OK = 0, + MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, + MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, + MAVLINK_WPM_CODE_ENUM_END +}; + + +/* WAYPOINT MANAGER - MISSION LIB */ + +#define MAVLINK_WPM_MAX_WP_COUNT 15 +#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates +#ifndef MAVLINK_WPM_TEXT_FEEDBACK +#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text +#endif +#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds +#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint +#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 + + +struct mavlink_wpm_storage { + mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints +#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE + mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints +#endif + uint16_t size; + uint16_t max_size; + uint16_t rcv_size; + enum MAVLINK_WPM_STATES current_state; + uint16_t current_wp_id; ///< Waypoint in current transmission + uint16_t current_active_wp_id; ///< Waypoint the system is currently heading towards + uint16_t current_count; + uint8_t current_partner_sysid; + uint8_t current_partner_compid; + uint64_t timestamp_lastaction; + uint64_t timestamp_last_send_setpoint; + uint64_t timestamp_firstinside_orbit; + uint64_t timestamp_lastoutside_orbit; + uint32_t timeout; + uint32_t delay_setpoint; + float accept_range_yaw; + float accept_range_distance; + bool yaw_reached; + bool pos_reached; + bool idle; +}; + +typedef struct mavlink_wpm_storage mavlink_wpm_storage; + +void mavlink_wpm_init(mavlink_wpm_storage *state); +int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, + struct vehicle_local_position_s *local_pos); +void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , + struct vehicle_local_position_s *local_pos); + +#endif /* WAYPOINTS_H_ */ |