navigation.h

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/****************************************************************************
 *
 *   Copyright (C) 2012 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.
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 ****************************************************************************/

#pragma once

#include <stdint.h>
#include <stdbool.h>

#if defined(MEMORY_CONSTRAINED_SYSTEM)
#  define NUM_MISSIONS_SUPPORTED 50
#elif defined(__PX4_POSIX)
#  define NUM_MISSIONS_SUPPORTED (UINT16_MAX-1) // This is allocated as needed.
#else
#  define NUM_MISSIONS_SUPPORTED 2000 // This allocates a file of around 181 kB on the SD card.
#endif

#define NAV_EPSILON_POSITION    0.001f  
/* compatible to mavlink MAV_CMD */
enum NAV_CMD {
    NAV_CMD_IDLE = 0,
    NAV_CMD_WAYPOINT = 16,
    NAV_CMD_LOITER_UNLIMITED = 17,
    NAV_CMD_LOITER_TIME_LIMIT = 19,
    NAV_CMD_RETURN_TO_LAUNCH = 20,
    NAV_CMD_LAND = 21,
    NAV_CMD_TAKEOFF = 22,
    NAV_CMD_LOITER_TO_ALT = 31,
    NAV_CMD_DO_FOLLOW_REPOSITION = 33,
    NAV_CMD_VTOL_TAKEOFF = 84,
    NAV_CMD_VTOL_LAND = 85,
    NAV_CMD_DELAY = 93,
    NAV_CMD_DO_JUMP = 177,
    NAV_CMD_DO_CHANGE_SPEED = 178,
    NAV_CMD_DO_SET_HOME = 179,
    NAV_CMD_DO_SET_SERVO = 183,
    NAV_CMD_DO_LAND_START = 189,
    NAV_CMD_DO_SET_ROI_LOCATION = 195,
    NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196,
    NAV_CMD_DO_SET_ROI_NONE = 197,
    NAV_CMD_DO_SET_ROI = 201,
    NAV_CMD_DO_DIGICAM_CONTROL = 203,
    NAV_CMD_DO_MOUNT_CONFIGURE = 204,
    NAV_CMD_DO_MOUNT_CONTROL = 205,
    NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
    NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
    NAV_CMD_SET_CAMERA_MODE = 530,
    NAV_CMD_IMAGE_START_CAPTURE = 2000,
    NAV_CMD_IMAGE_STOP_CAPTURE = 2001,
    NAV_CMD_DO_TRIGGER_CONTROL = 2003,
    NAV_CMD_VIDEO_START_CAPTURE = 2500,
    NAV_CMD_VIDEO_STOP_CAPTURE = 2501,
    NAV_CMD_DO_VTOL_TRANSITION = 3000,
    NAV_CMD_FENCE_RETURN_POINT = 5000,
    NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION = 5001,
    NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION = 5002,
    NAV_CMD_FENCE_CIRCLE_INCLUSION = 5003,
    NAV_CMD_FENCE_CIRCLE_EXCLUSION = 5004,
    NAV_CMD_INVALID = UINT16_MAX /* ensure that casting a large number results in a specific error */
};

enum ORIGIN {
    ORIGIN_MAVLINK = 0,
    ORIGIN_ONBOARD
};

/* compatible to mavlink MAV_FRAME */
enum NAV_FRAME {
    NAV_FRAME_GLOBAL = 0,
    NAV_FRAME_LOCAL_NED = 1,
    NAV_FRAME_MISSION = 2,
    NAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
    NAV_FRAME_LOCAL_ENU = 4,
    NAV_FRAME_GLOBAL_INT = 5,
    NAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6,
    NAV_FRAME_LOCAL_OFFSET_NED = 7,
    NAV_FRAME_BODY_NED = 8,
    NAV_FRAME_BODY_OFFSET_NED = 9,
    NAV_FRAME_GLOBAL_TERRAIN_ALT = 10,
    NAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
};

// Mission Item structure
//  We explicitly handle struct padding to ensure consistency between in memory and on disk formats across different platforms, toolchains, etc
//  The use of #pragma pack is avoided to prevent the possibility of unaligned memory accesses.

#if (__GNUC__ >= 5) || __clang__
//  Disabled in GCC 4.X as the warning doesn't seem to "pop" correctly
#pragma GCC diagnostic push
#pragma GCC diagnostic error "-Wpadded"
#endif // GCC >= 5 || Clang

struct mission_item_s {
    double lat;                 
    double lon;                 
    union {
        struct {
            union {
                float time_inside;      
                float pitch_min;        
                float circle_radius;        
            };
            float acceptance_radius;        
            float loiter_radius;            
            float yaw;              
            float ___lat_float;         
            float ___lon_float;         
            float altitude;             
        };
        float params[7];                
    };

    uint16_t nav_cmd;               
    int16_t do_jump_mission_index;          
    uint16_t do_jump_repeat_count;          
    union {
        uint16_t do_jump_current_count;         
        uint16_t vertex_count;              
        uint16_t land_precision;            
    };

    struct {
        uint16_t frame : 4,             
             origin : 3,                
             loiter_exit_xtrack : 1,        
             force_heading : 1,         
             altitude_is_relative : 1,      
             autocontinue : 1,          
             vtol_back_transition : 1,      
             _padding0 : 4;             
    };

    uint8_t _padding1[2];               
};

struct mission_stats_entry_s {
    uint16_t num_items;         
    uint16_t update_counter;            
};

struct mission_fence_point_s {
    double lat;
    double lon;
    float alt;

    union {
        uint16_t vertex_count;          
        float circle_radius;            
    };

    uint16_t nav_cmd;               
    uint8_t frame;                  
    uint8_t _padding0[5];               
};

struct mission_save_point_s {
    double lat;
    double lon;
    float alt;
    uint8_t frame;                  
    uint8_t _padding0[3];               
};

#if (__GNUC__ >= 5) || __clang__
#pragma GCC diagnostic pop
#endif // GCC >= 5 || Clang

#include <uORB/topics/mission.h>