WebSVN - NaviCtrl - Diff - Rev 785 and 802


#ifndef _WAYPOINTS_H
#define _WAYPOINTS_H
 
#include "ubx.h"
 
#define POINT_TYPE_INVALID 255
#define POINT_TYPE_WP           0
#define POINT_TYPE_POI          1
#define POINT_TYPE_FS           2
#define POINT_TYPE_LAND         3
#define POINT_TYPE_FLYZONE      4
 
// the waypoints list
#define MAX_LIST_LEN 101
 
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  AutoPhotoDistance;  // in [m]
    u8  reserve[1];                 // reserve
} __attribute__((packed)) Point_t;
 
 
#define WPL_STORE_TYPE_REL 0
#define WPL_STORE_TYPE_ABS 1
 
typedef struct
{
        u8 Index;
        u8 res1;                  
        u8 OverwriteFile;         // 0 = no, 1 = yes
        u8 reserved[7];
        s8 Name[12];
} __attribute__((packed)) WPL_Store_t;
 
extern WPL_Store_t WPL_Store;
 
// 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(u32);
// 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
#define WPL_ERROR                       0
#define WPL_OK                          1
#define WPL_FILEEXIST           2
#define WPL_NO_SDCARD_FOUND     3
#define WPL_NO_WAYPOINTS        4
u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store);
// load actual point list from SD card
u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store);
// 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, u16 RotationAngle);
// save actual gps positiin and heading to file
u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store);
// load target gps positiin and heading from file
u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store);
 
s32 CheckPositionInFlyzone(s32 Longitude, s32 Latitude, u8 UpdateTimer);
 
extern u32 SD_WaypointTimeout; // Setting on SD-Card
extern void ClearWLP_Name(void);
extern s16 HeadingOld;
extern Point_t PointList[MAX_LIST_LEN];
extern u8 FsPointCnt;
 
extern u8  PointCount;
extern u8  POICount;
extern u8  WPCount;
 
extern u8  FlyzonePointCnt;
 
#endif // _WAYPOINTS_H
 

Rev 785	Rev 802
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	#define POINT_TYPE_FS 2	9	#define POINT_TYPE_FS 2
10	#define POINT_TYPE_LAND 3	10	#define POINT_TYPE_LAND 3
-		11	#define POINT_TYPE_FLYZONE 4
11		12
12	// the waypoints list	13	// the waypoints list
13	#define MAX_LIST_LEN 101	14	#define MAX_LIST_LEN 101
14		15
15	typedef struct	16	typedef struct
16	{	17	{
17	GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details	18	GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details
18	s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List	19	s16 Heading; // orientation, 0 no action, 1...360 fix heading, neg. = Index to POI in WP List
19	u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered	20	u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered
20	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	21	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
21	u8 Event_Flag; // future implementation	22	u8 Event_Flag; // future implementation
22	u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC	23	u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC
23	u8 Type; // typeof Waypoint	24	u8 Type; // typeof Waypoint
24	u8 WP_EventChannelValue; // Will be transferred to the FC and can be used as Poti value there	25	u8 WP_EventChannelValue; // Will be transferred to the FC and can be used as Poti value there
25	u8 AltitudeRate; // rate to change the setpoint in steps of 0.1m/s	26	u8 AltitudeRate; // rate to change the setpoint in steps of 0.1m/s
26	u8 Speed; // rate to change the Position(0 = max) in steps of 0.1m/s	27	u8 Speed; // rate to change the Position(0 = max) in steps of 0.1m/s
27	u8 CamAngle; // Camera servo angle in degree (255 -> POI-Automatic)	28	u8 CamAngle; // Camera servo angle in degree (255 -> POI-Automatic)
28	u8 Name[4]; // Name of that point (ASCII)	29	u8 Name[4]; // Name of that point (ASCII)
29	u8 AutoPhotoDistance; // in [m]	30	u8 AutoPhotoDistance; // in [m]
30	u8 reserve[1]; // reserve	31	u8 reserve[1]; // reserve
31	} __attribute__((packed)) Point_t;	32	} __attribute__((packed)) Point_t;
32		33
33		34
34	#define WPL_STORE_TYPE_REL 0	35	#define WPL_STORE_TYPE_REL 0
35	#define WPL_STORE_TYPE_ABS 1	36	#define WPL_STORE_TYPE_ABS 1
36		37
37	typedef struct	38	typedef struct
38	{	39	{
39	u8 Index;	40	u8 Index;
40	u8 res1;	41	u8 res1;
41	u8 OverwriteFile; // 0 = no, 1 = yes	42	u8 OverwriteFile; // 0 = no, 1 = yes
42	u8 reserved[7];	43	u8 reserved[7];
43	s8 Name[12];	44	s8 Name[12];
44	} __attribute__((packed)) WPL_Store_t;	45	} __attribute__((packed)) WPL_Store_t;
45		46
46	extern WPL_Store_t WPL_Store;	47	extern WPL_Store_t WPL_Store;
47		48
48	// Init List, return TRUE on success	49	// Init List, return TRUE on success
49	u8 PointList_Init(void);	50	u8 PointList_Init(void);
50	// Clear List, return TRUE on success	51	// Clear List, return TRUE on success
51	u8 PointList_Clear(void);	52	u8 PointList_Clear(void);
52	// Returns number of points in the list	53	// Returns number of points in the list
53	u8 PointList_GetCount(void);	54	u8 PointList_GetCount(void);
54	// return pointer to point at position	55	// return pointer to point at position
55	Point_t* PointList_GetAt(u8 index);	56	Point_t* PointList_GetAt(u8 index);
56	// set a point in the list at index, returns its index on success, else 0	57	// set a point in the list at index, returns its index on success, else 0
57	u8 PointList_SetAt(Point_t* pPoint);	58	u8 PointList_SetAt(Point_t* pPoint);
58	// goto the first WP in the list and return pointer to it	59	// goto the first WP in the list and return pointer to it
59	Point_t* PointList_WPBegin(u32);	60	Point_t* PointList_WPBegin(u32);
60	// goto the last WP in the list and return pointer to it	61	// goto the last WP in the list and return pointer to it
61	Point_t* PointList_WPEnd(void);	62	Point_t* PointList_WPEnd(void);
62	// goto next WP in the list and return pointer to it	63	// goto next WP in the list and return pointer to it
63	Point_t* PointList_WPNext(void);	64	Point_t* PointList_WPNext(void);
64	// enables/disables waypoint function	65	// enables/disables waypoint function
65	void PointList_WPActive(u8 set);	66	void PointList_WPActive(u8 set);
66	// returns pointer to actual POI	67	// returns pointer to actual POI
67	Point_t* PointList_GetPOI(void);	68	Point_t* PointList_GetPOI(void);
68	// save actual point list to SD card	69	// save actual point list to SD card
69	#define WPL_ERROR 0	70	#define WPL_ERROR 0
70	#define WPL_OK 1	71	#define WPL_OK 1
71	#define WPL_FILEEXIST 2	72	#define WPL_FILEEXIST 2
72	#define WPL_NO_SDCARD_FOUND 3	73	#define WPL_NO_SDCARD_FOUND 3
73	#define WPL_NO_WAYPOINTS 4	74	#define WPL_NO_WAYPOINTS 4
74	u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store);	75	u8 PointList_WriteToFile(WPL_Store_t * pWPL_Store);
75	// load actual point list from SD card	76	// load actual point list from SD card
76	u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store);	77	u8 PointList_ReadFromFile(WPL_Store_t * pWPL_Store);
77	// move actual point list to ref pos., the point in the list marked by RefIndex get the RefPos afterwards	78	// move actual point list to ref pos., the point in the list marked by RefIndex get the RefPos afterwards
78	u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle);	79	u8 PointList_Move(u8 RefIndex, GPS_Pos_t* pRefPos, u16 RotationAngle);
79	// save actual gps positiin and heading to file	80	// save actual gps positiin and heading to file
80	u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store);	81	u8 PointList_SaveSinglePoint(WPL_Store_t * pWPL_Store);
81	// load target gps positiin and heading from file	82	// load target gps positiin and heading from file
82	u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store);	83	u8 PointList_LoadSinglePoint(WPL_Store_t * pWPL_Store);
-		84
-		85	s32 CheckPositionInFlyzone(s32 Longitude, s32 Latitude, u8 UpdateTimer);
83		86
84	extern u32 SD_WaypointTimeout; // Setting on SD-Card	87	extern u32 SD_WaypointTimeout; // Setting on SD-Card
85	extern void ClearWLP_Name(void);	88	extern void ClearWLP_Name(void);
86	extern s16 HeadingOld;	89	extern s16 HeadingOld;
87	extern Point_t PointList[MAX_LIST_LEN];	90	extern Point_t PointList[MAX_LIST_LEN];
88	extern u8 FsPointCnt;	91	extern u8 FsPointCnt;
89		92
90	extern u8 PointCount;	93	extern u8 PointCount;
91	extern u8 POICount;	94	extern u8 POICount;
92	extern u8 WPCount;	95	extern u8 WPCount;
93		-
-		96	extern u8 FlyzonePointCnt;
94		97
95	#endif // _WAYPOINTS_H	98	#endif // _WAYPOINTS_H
96		99

Subversion Repositories NaviCtrl

(root)/tags/V2.20e/waypoints.h @ 916 - Rev 785 → 802