From 6acb8fa66f38d20af57b8c45cc7878257abb24d2 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 23 Jan 2014 12:16:02 +0100 Subject: Replace mission_item_triplet with position_setpoint_triplet, WIP --- src/modules/uORB/objects_common.cpp | 4 +- src/modules/uORB/topics/mission_item_triplet.h | 83 -------------------- .../uORB/topics/position_setpoint_triplet.h | 91 ++++++++++++++++++++++ 3 files changed, 93 insertions(+), 85 deletions(-) delete mode 100644 src/modules/uORB/topics/mission_item_triplet.h create mode 100644 src/modules/uORB/topics/position_setpoint_triplet.h (limited to 'src/modules/uORB') diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 79a820c06..4c84c1f25 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -117,8 +117,8 @@ ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoi #include "topics/vehicle_bodyframe_speed_setpoint.h" ORB_DEFINE(vehicle_bodyframe_speed_setpoint, struct vehicle_bodyframe_speed_setpoint_s); -#include "topics/mission_item_triplet.h" -ORB_DEFINE(mission_item_triplet, struct mission_item_triplet_s); +#include "topics/position_setpoint_triplet.h" +ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s); #include "topics/vehicle_global_velocity_setpoint.h" ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s); diff --git a/src/modules/uORB/topics/mission_item_triplet.h b/src/modules/uORB/topics/mission_item_triplet.h deleted file mode 100644 index b35eae607..000000000 --- a/src/modules/uORB/topics/mission_item_triplet.h +++ /dev/null @@ -1,83 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Lorenz Meier - * - * 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 -#include -#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; - - int previous_index; - int current_index; - int next_index; -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(mission_item_triplet); - -#endif 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..a8bd6b8e3 --- /dev/null +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * @author Julian Oes + * @author Lorenz Meier + * + * 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 +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +enum SETPOINT_TYPE +{ + SETPOINT_TYPE_NORMAL = 0, + SETPOINT_TYPE_LOITER, + SETPOINT_TYPE_TAKEOFF, + SETPOINT_TYPE_LAND, +}; + +struct position_setpoint_s +{ + bool valid; /**< true if point is valid */ + 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 to hold current yaw */ + enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ +}; + +/** + * 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; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(position_setpoint_triplet); + +#endif -- cgit v1.2.3