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#ifndef _WAYPOINTS_H

#ifndef _WAYPOINTS_H

#define _WAYPOINTS_H

#define _WAYPOINTS_H

#include "ubx.h"

#define POINT_TYPE_POI  1

typedef struct

typedef struct

{

{

        GPS_Pos_t Position;             // the gps position of the waypoint, see ubx.h for details

        GPS_Pos_t Position;             // the gps position of the waypoint, see ubx.h for details

        s16 Heading;                    // orientation, future implementation

        s16 Heading;                    // orientation, future implementation

        u8  ToleranceRadius;    // in meters, if the MK is within that range around the target, then the next target is triggered

        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  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  Index;              // to indentify different waypoints, workaround for bad communications PC <-> NC

        u8  Type;                               // typeof Waypoint

        u8  reserve[11];                // reserve

        u8  reserve[10];                // reserve

} __attribute__((packed)) Waypoint_t;

} __attribute__((packed)) Waypoint_t;

Waypoint_t* WPList_Begin(void);

Waypoint_t* WPList_Begin(void);

Waypoint_t* WPList_End(void);

Waypoint_t* WPList_End(void);

Waypoint_t* WPList_Next(void);

Waypoint_t* WPList_Next(void);

Waypoint_t* WPList_GetAt(u8 index);

Waypoint_t* WPList_GetAt(u8 index);

Waypoint_t* WPList_GetPOI(void);

Waypoint_t* WPList_GetPOI(void);