Subversion Repositories NaviCtrl

Rev

Rev 403 | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
41 ingob 1
#ifndef _WAYPOINTS_H
2
#define _WAYPOINTS_H
3
 
4
#include "ubx.h"
5
 
277 killagreg 6
#define POINT_TYPE_INVALID 255
225 killagreg 7
#define POINT_TYPE_WP   0
8
#define POINT_TYPE_POI  1
9
 
41 ingob 10
typedef struct
11
{
12
        GPS_Pos_t Position;             // the gps position of the waypoint, see ubx.h for details
277 killagreg 13
        s16 Heading;                    // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
41 ingob 14
        u8  ToleranceRadius;    // in meters, if the MK is within that range around the target, then the next target is triggered
88 killagreg 15
        u8  HoldTime;                   // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
16
        u8  Event_Flag;                 // future implementation
162 ingob 17
        u8  Index;              // to indentify different waypoints, workaround for bad communications PC <-> NC
225 killagreg 18
        u8  Type;                               // typeof Waypoint
397 holgerb 19
        u8  WP_EventChannelValue;  // Will be transferred to the FC and can be used as Poti value there
286 killagreg 20
        u8      AltitudeRate;           // rate to change the setpoint
403 holgerb 21
        u8      Speed;                          // rate to change the Position(0 = max)
397 holgerb 22
        u8      CamAngle;                       // Camera servo angle in degree (255 -> POI-Automatic)
386 holgerb 23
        u8  Name[4];                // Name of that point (ASCII)
24
    u8  reserve[2];                 // reserve
280 killagreg 25
} __attribute__((packed)) Point_t;
41 ingob 26
 
277 killagreg 27
// Init List, return TRUE on success
280 killagreg 28
u8 PointList_Init(void);
277 killagreg 29
// Clear List, return TRUE on success
280 killagreg 30
u8 PointList_Clear(void);
277 killagreg 31
// Returns number of points in the list
280 killagreg 32
u8 PointList_GetCount(void);
33
// return pointer to point at position
34
Point_t* PointList_GetAt(u8 index);
295 killagreg 35
// set a point in the list at index, returns its index on success, else 0
36
u8 PointList_SetAt(Point_t* pPoint);
277 killagreg 37
// goto the first WP in the list and return pointer to it
280 killagreg 38
Point_t* PointList_WPBegin(void);
277 killagreg 39
// goto the last WP in the list and return pointer to it
280 killagreg 40
Point_t* PointList_WPEnd(void);
277 killagreg 41
// goto next WP in the list and return pointer to it
280 killagreg 42
Point_t* PointList_WPNext(void);
295 killagreg 43
// enables/disables waypoint function
280 killagreg 44
void PointList_WPActive(u8 set);
277 killagreg 45
// returns pointer to actual POI
280 killagreg 46
Point_t* PointList_GetPOI(void);
41 ingob 47
 
280 killagreg 48
 
41 ingob 49
#endif // _WAYPOINTS_H