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ROI - move handling to navigator (#7939)

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This commit is contained in:
Daniel Agar
2017-09-26 12:25:02 -04:00
committed by GitHub
parent e72769c924
commit 3c18be387c
24 changed files with 301 additions and 291 deletions
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40
msg/vehicle_command.msg
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@@ -52,7 +52,7 @@ uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # set id of master controller |System
uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222 # set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-flight mode. See mavlink spec MAV_CMD_PREFLIGHT_CALIBRATION
uint32 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3 # param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3 # param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
@@ -69,27 +69,27 @@ uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 ==
uint16 VEHICLE_CMD_LOGGING_START = 2510 # start streaming ULog data
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # stop streaming ULog data
uint16 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint16 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
uint16 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
uint16 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
uint16 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
uint16 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
uint16 VEHICLE_CMD_RESULT_ENUM_END = 6 #
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
uint8 VEHICLE_CMD_RESULT_ENUM_END = 6 #
uint16 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
uint16 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
uint16 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
uint16 VEHICLE_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
uint16 VEHICLE_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt |
uint16 VEHICLE_MOUNT_MODE_ENUM_END = 5 #
uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt |
uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5 #
uint16 VEHICLE_ROI_NONE = 0 # No region of interest |
uint16 VEHICLE_ROI_WPNEXT = 1 # Point toward next MISSION |
uint16 VEHICLE_ROI_WPINDEX = 2 # Point toward given MISSION |
uint16 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location |
uint16 VEHICLE_ROI_TARGET = 4 # Point toward target
uint16 VEHICLE_ROI_ENUM_END = 5
uint8 VEHICLE_ROI_NONE = 0 # No region of interest |
uint8 VEHICLE_ROI_WPNEXT = 1 # Point toward next MISSION |
uint8 VEHICLE_ROI_WPINDEX = 2 # Point toward given MISSION |
uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location |
uint8 VEHICLE_ROI_TARGET = 4 # Point toward target
uint8 VEHICLE_ROI_ENUM_END = 5
uint8 ORB_QUEUE_LENGTH = 3