| 0,0 → 1,98 |
|---|
| #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 |
| #define POINT_TYPE_FLYZONE 4 |
| |
| // 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 and simulation |
| 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); |
| |
| s32 CheckPositionInFlyzone(s32 Longitude, s32 Latitude, u8 UpdateTimer); |
| |
| 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; |
| extern u8 FlyzonePointCnt; |
| |
| #endif // _WAYPOINTS_H |