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#ifndef _WAYPOINTS_H

#define _WAYPOINTS_H

#include "ubx.h"

#define POINT_TYPE_INVALID 255

#define POINT_TYPE_WP   0

#define POINT_TYPE_POI  1

#define POINT_TYPE_FS   2

#define POINT_TYPE_LAND 3

// the waypoints list

#define MAX_LIST_LEN 101

typedef struct

{

        GPS_Pos_t Position;             // the gps position of the waypoint, see ubx.h for details

        s16 Heading;                    // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List

        u8  ToleranceRadius;    // in meters, if the MK is within that range around the target, then the next target is triggered

        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

        u8  Event_Flag;                 // future implementation

        u8  Index;              // to indentify different waypoints, workaround for bad communications PC <-> NC

        u8  Type;                               // typeof Waypoint

        u8  WP_EventChannelValue;  // Will be transferred to the FC and can be used as Poti value there

        u8      AltitudeRate;           // rate to change the setpoint in steps of 0.1m/s

        u8      Speed;                          // rate to change the Position(0 = max) in steps of 0.1m/s

        u8      CamAngle;                       // Camera servo angle in degree (255 -> POI-Automatic)

        u8  Name[4];                // Name of that point (ASCII)

        u8  AutoPhotoDistance;  // in [m]

    u8  reserve[1];                 // reserve

} __attribute__((packed)) Point_t;

#define WPL_STORE_TYPE_REL 0

#define WPL_STORE_TYPE_ABS 1

typedef struct

{

        u8 Index;

        u8 res1;                  

        u8 OverwriteFile;         // 0 = no, 1 = yes

        u8 reserved[7];

        s8 Name[12];

} __attribute__((packed)) WPL_Store_t;

extern WPL_Store_t WPL_Store;

// Init List, return TRUE on success

u8 PointList_Init(void);

// Clear List, return TRUE on success

u8 PointList_Clear(void);

// Returns number of points in the list

u8 PointList_GetCount(void);

// return pointer to point at position

Point_t* PointList_GetAt(u8 index);

// set a point in the list at index, returns its index on success, else 0

u8 PointList_SetAt(Point_t* pPoint);

// goto the first WP in the list and return pointer to it

Point_t* PointList_WPBegin(u32);

// goto the last WP in the list and return pointer to it

Point_t* PointList_WPEnd(void);

// goto next WP in the list and return pointer to it

Point_t* PointList_WPNext(void);

// enables/disables waypoint function

void PointList_WPActive(u8 set);

// returns pointer to actual POI

Point_t* PointList_GetPOI(void);

// save actual point list to SD card

#define WPL_ERROR                       0

#define WPL_OK                          1

#define WPL_FILEEXIST           2

#define WPL_NO_SDCARD_FOUND     3

#define WPL_NO_WAYPOINTS        4

u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store);

// load actual point list from SD card

u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store);

// move actual point list to ref pos., the point in the list marked by RefIndex get the RefPos afterwards

u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle);

// save actual gps positiin and heading to file

u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store);

// load target gps positiin and heading from file

u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store);

extern u32 SD_WaypointTimeout; // Setting on SD-Card

extern void ClearWLP_Name(void);

extern s16 HeadingOld;

extern Point_t PointList[MAX_LIST_LEN];

extern u8 FsPointCnt;

extern u8  PointCount;

extern u8  POICount;

extern u8  WPCount;

#endif // _WAYPOINTS_H