diff options
Diffstat (limited to 'src/modules/uORB/topics/mission.h')
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 2427a1d57..30f06c359 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -46,6 +46,8 @@ #include <stdbool.h> #include "../uORB.h" +#define NUM_MISSIONS_SUPPORTED 256 + /* compatible to mavlink MAV_CMD */ enum NAV_CMD { NAV_CMD_WAYPOINT=16, @@ -59,6 +61,11 @@ enum NAV_CMD { NAV_CMD_PATHPLANNING=81 }; +enum ORIGIN { + ORIGIN_MAVLINK = 0, + ORIGIN_ONBOARD +}; + /** * @addtogroup topics * @{ @@ -84,11 +91,11 @@ struct mission_item_s float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */ bool autocontinue; /**< true if next waypoint should follow after this one */ int index; /**< index matching the mavlink waypoint */ + enum ORIGIN origin; /**< where the waypoint has been generated */ }; struct mission_s { - struct mission_item_s *items; unsigned count; int current_index; /**< default -1, start at the one changed latest */ }; @@ -99,6 +106,5 @@ struct mission_s /* register this as object request broker structure */ ORB_DECLARE(mission); -ORB_DECLARE(onboard_mission); #endif |