diff options
Diffstat (limited to 'apps/uORB/topics')
-rw-r--r-- | apps/uORB/topics/vehicle_global_position_set_triplet.h | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/apps/uORB/topics/vehicle_global_position_set_triplet.h b/apps/uORB/topics/vehicle_global_position_set_triplet.h new file mode 100644 index 000000000..318abba89 --- /dev/null +++ b/apps/uORB/topics/vehicle_global_position_set_triplet.h @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * 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 vehicle_global_position_setpoint.h + * Definition of the global WGS84 position setpoint uORB topic. + */ + +#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_ +#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +#include "vehicle_global_position_setpoint.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Global position setpoint triplet in WGS84 coordinates. + * + * This are the three next waypoints (or just the next two or one). + */ +struct vehicle_global_position_set_triplet_s +{ + bool previous_valid; + bool next_valid; + + struct vehicle_global_position_setpoint_s previous; + struct vehicle_global_position_setpoint_s current; + struct vehicle_global_position_setpoint_s next; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_global_position_set_triplet); + +#endif |