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#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

// 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(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
#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);

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;

#endif // _WAYPOINTS_H