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Rev | Author | Line No. | Line |
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41 | ingob | 1 | #ifndef _WAYPOINTS_H |
2 | #define _WAYPOINTS_H |
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3 | |||
4 | #include "ubx.h" |
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5 | |||
277 | killagreg | 6 | #define POINT_TYPE_INVALID 255 |
225 | killagreg | 7 | #define POINT_TYPE_WP 0 |
8 | #define POINT_TYPE_POI 1 |
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9 | |||
41 | ingob | 10 | typedef struct |
11 | { |
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12 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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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 |
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162 | ingob | 17 | u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
225 | killagreg | 18 | u8 Type; // typeof Waypoint |
277 | killagreg | 19 | u8 WP_EventChannelValue; // |
286 | killagreg | 20 | u8 AltitudeRate; // rate to change the setpoint |
348 | holgerb | 21 | u8 Speed; // rate to change the Position |
22 | u8 CamAngle; // Camera servo angle |
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23 | u8 reserve[6]; // reserve |
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280 | killagreg | 24 | } __attribute__((packed)) Point_t; |
41 | ingob | 25 | |
277 | killagreg | 26 | // Init List, return TRUE on success |
280 | killagreg | 27 | u8 PointList_Init(void); |
277 | killagreg | 28 | // Clear List, return TRUE on success |
280 | killagreg | 29 | u8 PointList_Clear(void); |
277 | killagreg | 30 | // Returns number of points in the list |
280 | killagreg | 31 | u8 PointList_GetCount(void); |
32 | // return pointer to point at position |
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33 | Point_t* PointList_GetAt(u8 index); |
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295 | killagreg | 34 | // set a point in the list at index, returns its index on success, else 0 |
35 | u8 PointList_SetAt(Point_t* pPoint); |
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277 | killagreg | 36 | // goto the first WP in the list and return pointer to it |
280 | killagreg | 37 | Point_t* PointList_WPBegin(void); |
277 | killagreg | 38 | // goto the last WP in the list and return pointer to it |
280 | killagreg | 39 | Point_t* PointList_WPEnd(void); |
277 | killagreg | 40 | // goto next WP in the list and return pointer to it |
280 | killagreg | 41 | Point_t* PointList_WPNext(void); |
295 | killagreg | 42 | // enables/disables waypoint function |
280 | killagreg | 43 | void PointList_WPActive(u8 set); |
277 | killagreg | 44 | // returns pointer to actual POI |
280 | killagreg | 45 | Point_t* PointList_GetPOI(void); |
41 | ingob | 46 | |
280 | killagreg | 47 | |
41 | ingob | 48 | #endif // _WAYPOINTS_H |