WebSVN - NaviCtrl - Diff - Rev 295 and 348


#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
{
        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      Speed;                          // rate to change the Position
        u8      CamAngle;                       // Camera servo angle
        u8  reserve[6];             // 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
 

Subversion Repositories NaviCtrl

(root)/tags/V2.06i/waypoints.h @ 925 - Rev 295 → 348

Rev 295		Rev 348
1	#ifndef _WAYPOINTS_H	1	#ifndef _WAYPOINTS_H
2	#define _WAYPOINTS_H	2	#define _WAYPOINTS_H
3		3
4	#include "ubx.h"	4	#include "ubx.h"
5		5
6	#define POINT_TYPE_INVALID 255	6	#define POINT_TYPE_INVALID 255
7	#define POINT_TYPE_WP 0	7	#define POINT_TYPE_WP 0
8	#define POINT_TYPE_POI 1	8	#define POINT_TYPE_POI 1
9		9
10	typedef struct	10	typedef struct
11	{	11	{
12	GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details	12	GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details
13	s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List	13	s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
14	u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered	14	u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered
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	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	16	u8 Event_Flag; // future implementation
17	u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC	17	u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC
18	u8 Type; // typeof Waypoint	18	u8 Type; // typeof Waypoint
19	u8 WP_EventChannelValue; //	19	u8 WP_EventChannelValue; //
20	u8 AltitudeRate; // rate to change the setpoint	20	u8 AltitudeRate; // rate to change the setpoint
-		21	u8 Speed; // rate to change the Position
-		22	u8 CamAngle; // Camera servo angle
21	u8 reserve[8]; // reserve	23	u8 reserve[6]; // reserve
22	} __attribute__((packed)) Point_t;	24	} __attribute__((packed)) Point_t;
23		25
24	// Init List, return TRUE on success	26	// Init List, return TRUE on success
25	u8 PointList_Init(void);	27	u8 PointList_Init(void);
26	// Clear List, return TRUE on success	28	// Clear List, return TRUE on success
27	u8 PointList_Clear(void);	29	u8 PointList_Clear(void);
28	// Returns number of points in the list	30	// Returns number of points in the list
29	u8 PointList_GetCount(void);	31	u8 PointList_GetCount(void);
30	// return pointer to point at position	32	// return pointer to point at position
31	Point_t* PointList_GetAt(u8 index);	33	Point_t* PointList_GetAt(u8 index);
32	// set a point in the list at index, returns its index on success, else 0	34	// set a point in the list at index, returns its index on success, else 0
33	u8 PointList_SetAt(Point_t* pPoint);	35	u8 PointList_SetAt(Point_t* pPoint);
34	// goto the first WP in the list and return pointer to it	36	// goto the first WP in the list and return pointer to it
35	Point_t* PointList_WPBegin(void);	37	Point_t* PointList_WPBegin(void);
36	// goto the last WP in the list and return pointer to it	38	// goto the last WP in the list and return pointer to it
37	Point_t* PointList_WPEnd(void);	39	Point_t* PointList_WPEnd(void);
38	// goto next WP in the list and return pointer to it	40	// goto next WP in the list and return pointer to it
39	Point_t* PointList_WPNext(void);	41	Point_t* PointList_WPNext(void);
40	// enables/disables waypoint function	42	// enables/disables waypoint function
41	void PointList_WPActive(u8 set);	43	void PointList_WPActive(u8 set);
42	// returns pointer to actual POI	44	// returns pointer to actual POI
43	Point_t* PointList_GetPOI(void);	45	Point_t* PointList_GetPOI(void);
44		46
45		47
46	#endif // _WAYPOINTS_H	48	#endif // _WAYPOINTS_H
47		49