Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1734 | - | 1 | #ifndef _WAYPOINTS_H |
| 2 | #define _WAYPOINTS_H |
||
| 3 | |||
| 4 | //#include "ubx.h" |
||
| 5 | |||
| 6 | #define POINT_TYPE_INVALID 255 |
||
| 7 | #define POINT_TYPE_WP 0 |
||
| 8 | #define POINT_TYPE_POI 1 |
||
| 9 | |||
| 10 | |||
| 11 | typedef struct |
||
| 12 | { |
||
| 13 | s32 Longitude; // in 1E-7 deg |
||
| 14 | s32 Latitude; // in 1E-7 deg |
||
| 15 | s32 Altitude; // in mm |
||
| 16 | u8 Status;// validity of data |
||
| 17 | } __attribute__((packed)) GPS_Pos_t; |
||
| 18 | |||
| 19 | |||
| 20 | typedef struct |
||
| 21 | { |
||
| 22 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
||
| 23 | s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List |
||
| 24 | u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
||
| 25 | 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 |
||
| 26 | u8 Event_Flag; // future implementation |
||
| 27 | u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
||
| 28 | u8 Type; // typeof Waypoint |
||
| 29 | u8 WP_EventChannelValue; // |
||
| 30 | u8 AltitudeRate; // rate to change the setpoint |
||
| 31 | u8 reserve[8]; // reserve |
||
| 32 | } __attribute__((packed)) Point_t; |
||
| 33 | |||
| 34 | // Init List, return TRUE on success |
||
| 35 | u8 PointList_Init(void); |
||
| 36 | // Clear List, return TRUE on success |
||
| 37 | u8 PointList_Clear(void); |
||
| 38 | // Returns number of points in the list |
||
| 39 | u8 PointList_GetCount(void); |
||
| 40 | // return pointer to point at position |
||
| 41 | Point_t* PointList_GetAt(u8 index); |
||
| 42 | // set a point in the list at index, returns its index on success, else 0 |
||
| 43 | u8 PointList_SetAt(Point_t* pPoint); |
||
| 44 | // goto the first WP in the list and return pointer to it |
||
| 45 | Point_t* PointList_WPBegin(void); |
||
| 46 | // goto the last WP in the list and return pointer to it |
||
| 47 | Point_t* PointList_WPEnd(void); |
||
| 48 | // goto next WP in the list and return pointer to it |
||
| 49 | Point_t* PointList_WPNext(void); |
||
| 50 | // enables/disables waypoint function |
||
| 51 | void PointList_WPActive(u8 set); |
||
| 52 | // returns pointer to actual POI |
||
| 53 | Point_t* PointList_GetPOI(void); |
||
| 54 | |||
| 55 | |||
| 56 | #endif // _WAYPOINTS_H |