WebSVN - NaviCtrl - Diff - Rev 491 and 494


#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;  // 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  reserve[2];                 // 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);
// save actual point list to SD card
u8 PointList_SaveToFile(u8 place, s8 * name);
// load actual point list from SD card
u8 PointList_ReadFromFile(u8 place);
// 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);
 
 
#endif // _WAYPOINTS_H
 

Subversion Repositories NaviCtrl

(root)/tags/V2.10c/waypoints.h @ 868 - Rev 491 → 494

Rev 491		Rev 494
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; // Will be transferred to the FC and can be used as Poti value there	19	u8 WP_EventChannelValue; // Will be transferred to the FC and can be used as Poti value there
20	u8 AltitudeRate; // rate to change the setpoint in steps of 0.1m/s	20	u8 AltitudeRate; // rate to change the setpoint in steps of 0.1m/s
21	u8 Speed; // rate to change the Position(0 = max) in steps of 0.1m/s	21	u8 Speed; // rate to change the Position(0 = max) in steps of 0.1m/s
22	u8 CamAngle; // Camera servo angle in degree (255 -> POI-Automatic)	22	u8 CamAngle; // Camera servo angle in degree (255 -> POI-Automatic)
23	u8 Name[4]; // Name of that point (ASCII)	23	u8 Name[4]; // Name of that point (ASCII)
24	u8 reserve[2]; // reserve	24	u8 reserve[2]; // reserve
25	} __attribute__((packed)) Point_t;	25	} __attribute__((packed)) Point_t;
26		26
27	// Init List, return TRUE on success	27	// Init List, return TRUE on success
28	u8 PointList_Init(void);	28	u8 PointList_Init(void);
29	// Clear List, return TRUE on success	29	// Clear List, return TRUE on success
30	u8 PointList_Clear(void);	30	u8 PointList_Clear(void);
31	// Returns number of points in the list	31	// Returns number of points in the list
32	u8 PointList_GetCount(void);	32	u8 PointList_GetCount(void);
33	// return pointer to point at position	33	// return pointer to point at position
34	Point_t* PointList_GetAt(u8 index);	34	Point_t* PointList_GetAt(u8 index);
35	// set a point in the list at index, returns its index on success, else 0	35	// set a point in the list at index, returns its index on success, else 0
36	u8 PointList_SetAt(Point_t* pPoint);	36	u8 PointList_SetAt(Point_t* pPoint);
37	// goto the first WP in the list and return pointer to it	37	// goto the first WP in the list and return pointer to it
38	Point_t* PointList_WPBegin(void);	38	Point_t* PointList_WPBegin(void);
39	// goto the last WP in the list and return pointer to it	39	// goto the last WP in the list and return pointer to it
40	Point_t* PointList_WPEnd(void);	40	Point_t* PointList_WPEnd(void);
41	// goto next WP in the list and return pointer to it	41	// goto next WP in the list and return pointer to it
42	Point_t* PointList_WPNext(void);	42	Point_t* PointList_WPNext(void);
43	// enables/disables waypoint function	43	// enables/disables waypoint function
44	void PointList_WPActive(u8 set);	44	void PointList_WPActive(u8 set);
45	// returns pointer to actual POI	45	// returns pointer to actual POI
46	Point_t* PointList_GetPOI(void);	46	Point_t* PointList_GetPOI(void);
47	// save actual point list to SD card	47	// save actual point list to SD card
48	u8 PointList_SaveToFile(u8 place);	48	u8 PointList_SaveToFile(u8 place, s8 * name);
49	// load actual point list from SD card	49	// load actual point list from SD card
50	u8 PointList_ReadFromFile(u8 place);	50	u8 PointList_ReadFromFile(u8 place);
51	// move actual point list to ref pos., the point in the list marked by RefIndex get the RefPos afterwards	51	// move actual point list to ref pos., the point in the list marked by RefIndex get the RefPos afterwards
52	u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos);	52	u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos);
53		53
54		54
55	#endif // _WAYPOINTS_H	55	#endif // _WAYPOINTS_H
56		56