diff options
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/objects_common.cpp | 11 | ||||
| -rw-r--r-- | src/modules/uORB/topics/fence.h | 80 | ||||
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 35 | ||||
| -rw-r--r-- | src/modules/uORB/topics/mission_item_triplet.h (renamed from src/modules/uORB/topics/vehicle_global_position_set_triplet.h) | 29 | ||||
| -rw-r--r-- | src/modules/uORB/topics/mission_result.h | 67 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 1 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 8 |
7 files changed, 202 insertions, 29 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index c6a252b55..7434df1c3 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -120,14 +120,21 @@ ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setp #include "topics/vehicle_global_position_setpoint.h" ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s); -#include "topics/vehicle_global_position_set_triplet.h" -ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s); +#include "topics/mission_item_triplet.h" +ORB_DEFINE(mission_item_triplet, struct mission_item_triplet_s); #include "topics/vehicle_global_velocity_setpoint.h" ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s); #include "topics/mission.h" ORB_DEFINE(mission, struct mission_s); +ORB_DEFINE(onboard_mission, struct mission_s); + +#include "topics/mission_result.h" +ORB_DEFINE(mission_result, struct mission_result_s); + +#include "topics/fence.h" +ORB_DEFINE(fence, unsigned); #include "topics/vehicle_attitude_setpoint.h" ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s); diff --git a/src/modules/uORB/topics/fence.h b/src/modules/uORB/topics/fence.h new file mode 100644 index 000000000..6f16c51cf --- /dev/null +++ b/src/modules/uORB/topics/fence.h @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Jean Cyr <jean.m.cyr@gmail.com> + * + * 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 fence.h + * Definition of geofence. + */ + +#ifndef TOPIC_FENCE_H_ +#define TOPIC_FENCE_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +#define GEOFENCE_MAX_VERTICES 16 + +/** + * This is the position of a geofence vertex + * + */ +struct fence_vertex_s { + // Worst case float precision gives us 2 meter resolution at the equator + float lat; /**< latitude in degrees */ + float lon; /**< longitude in degrees */ +}; + +/** + * This is the position of a geofence + * + */ +struct fence_s { + unsigned count; /**< number of actual vertices */ + struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES]; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(fence); + +#endif diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 978a3383a..2427a1d57 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -35,8 +35,8 @@ ****************************************************************************/ /** - * @file mission_item.h - * Definition of one mission item. + * @file mission.h + * Definition of a mission consisting of mission items. */ #ifndef TOPIC_MISSION_H_ @@ -46,14 +46,17 @@ #include <stdbool.h> #include "../uORB.h" +/* compatible to mavlink MAV_CMD */ enum NAV_CMD { - NAV_CMD_WAYPOINT = 0, - NAV_CMD_LOITER_TURN_COUNT, - NAV_CMD_LOITER_TIME_LIMIT, - NAV_CMD_LOITER_UNLIMITED, - NAV_CMD_RETURN_TO_LAUNCH, - NAV_CMD_LAND, - NAV_CMD_TAKEOFF + NAV_CMD_WAYPOINT=16, + NAV_CMD_LOITER_UNLIMITED=17, + NAV_CMD_LOITER_TURN_COUNT=18, + NAV_CMD_LOITER_TIME_LIMIT=19, + NAV_CMD_RETURN_TO_LAUNCH=20, + NAV_CMD_LAND=21, + NAV_CMD_TAKEOFF=22, + NAV_CMD_ROI=80, + NAV_CMD_PATHPLANNING=81 }; /** @@ -75,18 +78,19 @@ struct mission_item_s float altitude; /**< altitude in meters */ float yaw; /**< in radians NED -PI..+PI */ float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ - uint8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ - enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ - float param1; - float param2; - float param3; - float param4; + int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ + enum NAV_CMD nav_cmd; /**< navigation command */ + float radius; /**< radius in which the mission is accepted as reached in meters */ + 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 */ }; struct mission_s { struct mission_item_s *items; unsigned count; + int current_index; /**< default -1, start at the one changed latest */ }; /** @@ -95,5 +99,6 @@ struct mission_s /* register this as object request broker structure */ ORB_DECLARE(mission); +ORB_DECLARE(onboard_mission); #endif diff --git a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/mission_item_triplet.h index 8516b263f..b35eae607 100644 --- a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h +++ b/src/modules/uORB/topics/mission_item_triplet.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * 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> @@ -35,18 +35,18 @@ ****************************************************************************/ /** - * @file vehicle_global_position_setpoint.h + * @file mission_item_triplet.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_ +#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_ +#define TOPIC_MISSION_ITEM_TRIPLET_H_ #include <stdint.h> #include <stdbool.h> #include "../uORB.h" -#include "vehicle_global_position_setpoint.h" +#include "mission.h" /** * @addtogroup topics @@ -58,14 +58,19 @@ * * This are the three next waypoints (or just the next two or one). */ -struct vehicle_global_position_set_triplet_s +struct mission_item_triplet_s { - bool previous_valid; /**< flag indicating previous position is valid */ - bool next_valid; /**< flag indicating next position is valid */ + bool previous_valid; + bool current_valid; /**< flag indicating previous mission item is valid */ + bool next_valid; /**< flag indicating next mission item is valid */ - struct vehicle_global_position_setpoint_s previous; - struct vehicle_global_position_setpoint_s current; - struct vehicle_global_position_setpoint_s next; + struct mission_item_s previous; + struct mission_item_s current; + struct mission_item_s next; + + int previous_index; + int current_index; + int next_index; }; /** @@ -73,6 +78,6 @@ struct vehicle_global_position_set_triplet_s */ /* register this as object request broker structure */ -ORB_DECLARE(vehicle_global_position_set_triplet); +ORB_DECLARE(mission_item_triplet); #endif diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h new file mode 100644 index 000000000..c99706b97 --- /dev/null +++ b/src/modules/uORB/topics/mission_result.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * 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 mission_result.h + * Mission results that navigator needs to pass on to commander and mavlink. + */ + +#ifndef TOPIC_MISSION_RESULT_H +#define TOPIC_MISSION_RESULT_H + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct mission_result_s +{ + bool mission_reached; /**< true if mission has been reached */ + unsigned mission_index; /**< index of the mission which has been reached */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(mission_result); + +#endif diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 38fb74c9b..e26fb97c8 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -78,6 +78,7 @@ struct vehicle_control_mode_s bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ + bool flag_control_flighttermination_enabled; /**< true if flighttermination is enabled */ bool flag_control_auto_enabled; // TEMP uint8_t auto_state; // TEMP navigation state for AUTO modes diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 1c184d3a7..1c3763924 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -95,6 +95,12 @@ typedef enum { HIL_STATE_ON } hil_state_t; + +typedef enum { + FLIGHTTERMINATION_STATE_OFF = 0, + FLIGHTTERMINATION_STATE_ON +} flighttermination_state_t; + typedef enum { MODE_SWITCH_MANUAL = 0, MODE_SWITCH_ASSISTED, @@ -229,6 +235,8 @@ struct vehicle_status_s uint16_t errors_count2; uint16_t errors_count3; uint16_t errors_count4; + + flighttermination_state_t flighttermination_state; }; /** |