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/****************************************************************************
*
* Copyright (C) 2013 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 mission_item_triplet.h
* Definition of the global WGS84 position setpoint uORB topic.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
#define TOPIC_MISSION_ITEM_TRIPLET_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
enum SETPOINT_TYPE
{
SETPOINT_TYPE_POSITION = 0, /**< position setpoint */
SETPOINT_TYPE_VELOCITY, /**< velocity setpoint */
SETPOINT_TYPE_LOITER, /**< loiter setpoint */
SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */
SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, 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;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(position_setpoint_triplet);
#endif
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