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Diffstat (limited to 'src/modules/uORB/topics/position_setpoint_triplet.h')
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 98 |
1 files changed, 98 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h new file mode 100644 index 000000000..34aaa30dd --- /dev/null +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * 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 <navigator/navigator_state.h> + +/** + * @addtogroup topics + * @{ + */ + +enum SETPOINT_TYPE +{ + SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */ + SETPOINT_TYPE_LOITER, /**< loiter setpoint */ + SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ + SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, vehicle must descend until landing */ + SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ +}; + +struct position_setpoint_s +{ + bool valid; /**< true if setpoint is valid */ + enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ + double lat; /**< latitude, in deg */ + double lon; /**< longitude, in deg */ + float alt; /**< altitude AMSL, in m */ + float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + float loiter_radius; /**< loiter radius (only for fixed wing), in m */ + int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ + float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ +}; + +/** + * Global position setpoint triplet in WGS84 coordinates. + * + * This are the three next waypoints (or just the next two or one). + */ +struct position_setpoint_triplet_s +{ + struct position_setpoint_s previous; + struct position_setpoint_s current; + struct position_setpoint_s next; + + nav_state_t nav_state; /**< navigation state */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(position_setpoint_triplet); + +#endif |