| 0,0 → 1,56 |
|---|
| #ifndef _WAYPOINTS_H |
| #define _WAYPOINTS_H |
| |
| //#include "ubx.h" |
| |
| #define POINT_TYPE_INVALID 255 |
| #define POINT_TYPE_WP 0 |
| #define POINT_TYPE_POI 1 |
| |
| |
| typedef struct |
| { |
| s32 Longitude; // in 1E-7 deg |
| s32 Latitude; // in 1E-7 deg |
| s32 Altitude; // in mm |
| u8 Status;// validity of data |
| } __attribute__((packed)) GPS_Pos_t; |
| |
| |
| 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; // |
| u8 AltitudeRate; // rate to change the setpoint |
| u8 reserve[8]; // reserve |
| } __attribute__((packed)) Point_t; |
| |
| // 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(void); |
| // 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); |
| |
| |
| #endif // _WAYPOINTS_H |