From 2a09473e5fc73bf2f59f0d27b0b5c38b2c91812f Mon Sep 17 00:00:00 2001 From: Ban Siesta Date: Fri, 19 Dec 2014 22:26:31 +0000 Subject: topics: move geofence status to its own topic --- src/modules/uORB/topics/geofence_result.h | 65 +++++++++++++++++++++++++++++++ src/modules/uORB/topics/mission_result.h | 11 +++--- 2 files changed, 71 insertions(+), 5 deletions(-) create mode 100644 src/modules/uORB/topics/geofence_result.h (limited to 'src/modules/uORB/topics') diff --git a/src/modules/uORB/topics/geofence_result.h b/src/modules/uORB/topics/geofence_result.h new file mode 100644 index 000000000..b07e04499 --- /dev/null +++ b/src/modules/uORB/topics/geofence_result.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (C) 2014 PX4 Development Team. All rights reserved. + * + * 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 geofence_result.h + * Status of the plance concerning the geofence + * + * @author Ban Siesta + */ + +#ifndef TOPIC_GEOFENCE_RESULT_H +#define TOPIC_GEOFENCE_RESULT_H + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +struct geofence_result_s +{ + bool geofence_violated; /**< true if the geofence is violated */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(geofence_result); + +#endif diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index c7d25d1f0..17ddaa01d 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Lorenz Meier + * Copyright (C) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,11 @@ /** * @file mission_result.h * Mission results that navigator needs to pass on to commander and mavlink. + * + * @author Thomas Gubler + * @author Julian Oes + * @author Lorenz Meier + * @author Ban Siesta */ #ifndef TOPIC_MISSION_RESULT_H @@ -58,7 +60,6 @@ struct mission_result_s bool reached; /**< true if mission has been reached */ bool finished; /**< true if mission has been completed */ bool stay_in_failsafe; /**< true if the commander should not switch out of the failsafe mode*/ - bool geofence_violated; /**< true if the geofence is violated */ bool flight_termination; /**< true if the navigator demands a flight termination from the commander app */ }; -- cgit v1.2.3