yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

Move mission result to generated topics

Browse Source
This commit is contained in:
Lorenz Meier
2015-06-13 17:31:31 +02:00
parent dc03793426
commit 2ba8ac4438
2 changed files with 11 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
msg/mission_result.msg Normal file
View File

@@ -0,0 +1,11 @@
uint32 instance_count # Instance count of this mission. Increments monotonically whenever the mission is modified
uint32 seq_reached # Sequence of the mission item which has been reached
uint32 seq_current # Sequence of the current mission item
bool valid # true if mission is valid
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 flight_termination # true if the navigator demands a flight termination from the commander app
bool item_do_jump_changed # true if the number of do jumps remaining has changed
uint32 item_changed_index # indicate which item has changed
uint32 item_do_jump_remaining # set to the number of do jumps remaining for that item

75
src/modules/uORB/topics/mission_result.h
View File

@@ -1,75 +0,0 @@
/****************************************************************************
*
* 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
* 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.
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Ban Siesta <bansiesta@gmail.com>
*/
#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 {
unsigned seq_reached; /**< Sequence of the mission item which has been reached */
unsigned seq_current; /**< Sequence of the current mission item */
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 flight_termination; /**< true if the navigator demands a flight termination from the commander app */
bool item_do_jump_changed; /**< true if the number of do jumps remaining has changed */
unsigned item_changed_index; /**< indicate which item has changed */
unsigned item_do_jump_remaining;/**< set to the number of do jumps remaining for that item */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(mission_result);
#endif