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112 lines
4.2 KiB
C
112 lines
4.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2009-2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file waypoints.h
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* MAVLink waypoint protocol definition (BSD-relicensed).
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*
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* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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*/
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#ifndef WAYPOINTS_H_
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#define WAYPOINTS_H_
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/* This assumes you have the mavlink headers on your include path
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or in the same folder as this source file */
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#include <v1.0/mavlink_types.h>
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#include "mavlink_bridge_header.h"
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#include <stdbool.h>
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#include <uORB/topics/mission.h>
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enum MAVLINK_WPM_STATES {
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MAVLINK_WPM_STATE_IDLE = 0,
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MAVLINK_WPM_STATE_SENDLIST,
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MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
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MAVLINK_WPM_STATE_GETLIST,
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MAVLINK_WPM_STATE_GETLIST_GETWPS,
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MAVLINK_WPM_STATE_GETLIST_GOTALL,
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MAVLINK_WPM_STATE_ENUM_END
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};
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enum MAVLINK_WPM_CODES {
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MAVLINK_WPM_CODE_OK = 0,
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MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
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MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
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MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
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MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
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MAVLINK_WPM_CODE_ENUM_END
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};
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#define MAVLINK_WPM_MAX_WP_COUNT 255
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#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
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#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
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#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
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struct mavlink_wpm_storage {
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uint16_t size;
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uint16_t max_size;
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enum MAVLINK_WPM_STATES current_state;
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int16_t current_wp_id; ///< Waypoint in current transmission
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uint16_t current_count;
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uint8_t current_partner_sysid;
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uint8_t current_partner_compid;
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uint64_t timestamp_lastaction;
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uint64_t timestamp_last_send_setpoint;
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uint32_t timeout;
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int current_dataman_id;
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};
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typedef struct mavlink_wpm_storage mavlink_wpm_storage;
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int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
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int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
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void mavlink_wpm_init(mavlink_wpm_storage *state);
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void mavlink_waypoint_eventloop(uint64_t now);
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void mavlink_wpm_message_handler(const mavlink_message_t *msg);
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extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
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float param2, float param3, float param4, float param5_lat_x,
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float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
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static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
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#endif /* WAYPOINTS_H_ */
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