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Diffstat (limited to 'src/modules/uORB/topics/mission_item_triplet.h')
-rw-r--r-- | src/modules/uORB/topics/mission_item_triplet.h | 79 |
1 files changed, 79 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/mission_item_triplet.h b/src/modules/uORB/topics/mission_item_triplet.h new file mode 100644 index 000000000..48553b0ac --- /dev/null +++ b/src/modules/uORB/topics/mission_item_triplet.h @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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_item_triplet.h + * Definition of the global WGS84 position setpoint uORB topic. + */ + +#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_ +#define TOPIC_MISSION_ITEM_TRIPLET_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +#include "mission.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Global position setpoint triplet in WGS84 coordinates. + * + * This are the three next waypoints (or just the next two or one). + */ +struct mission_item_triplet_s +{ + bool previous_valid; + bool current_valid; /**< flag indicating previous mission item is valid */ + bool next_valid; /**< flag indicating next mission item is valid */ + + struct mission_item_s previous; + struct mission_item_s current; + struct mission_item_s next; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(mission_item_triplet); + +#endif |