Definition of a mission consisting of mission items. More...

#include <stdint.h>
#include <stdbool.h>
#include <uORB/topics/mission.h>

Include dependency graph for navigation.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	mission_item_s
	Global position setpoint in WGS84 coordinates. More...

struct	mission_stats_entry_s
	dataman housekeeping information for a specific item. More...

struct	mission_fence_point_s
	Geofence vertex point. More...

struct	mission_safe_point_s
	Safe Point (Rally Point). More...

Macros
#define	NUM_MISSIONS_SUPPORTED 2000

#define	NAV_EPSILON_POSITION 0.001f
	Anything smaller than this is considered zero. More...

Enumerations
enum	NAV_CMD { NAV_CMD_IDLE = 0, NAV_CMD_WAYPOINT = 16, NAV_CMD_LOITER_UNLIMITED = 17, NAV_CMD_LOITER_TIME_LIMIT = 19, NAV_CMD_RETURN_TO_LAUNCH = 20, NAV_CMD_LAND = 21, NAV_CMD_TAKEOFF = 22, NAV_CMD_LOITER_TO_ALT = 31, NAV_CMD_DO_FOLLOW_REPOSITION = 33, NAV_CMD_VTOL_TAKEOFF = 84, NAV_CMD_VTOL_LAND = 85, NAV_CMD_DELAY = 93, NAV_CMD_DO_JUMP = 177, NAV_CMD_DO_CHANGE_SPEED = 178, NAV_CMD_DO_SET_HOME = 179, NAV_CMD_DO_SET_SERVO = 183, NAV_CMD_DO_LAND_START = 189, NAV_CMD_DO_SET_ROI_LOCATION = 195, NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196, NAV_CMD_DO_SET_ROI_NONE = 197, NAV_CMD_DO_SET_ROI = 201, NAV_CMD_DO_DIGICAM_CONTROL = 203, NAV_CMD_DO_MOUNT_CONFIGURE = 204, NAV_CMD_DO_MOUNT_CONTROL = 205, NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214, NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206, NAV_CMD_SET_CAMERA_MODE = 530, NAV_CMD_IMAGE_START_CAPTURE = 2000, NAV_CMD_IMAGE_STOP_CAPTURE = 2001, NAV_CMD_DO_TRIGGER_CONTROL = 2003, NAV_CMD_VIDEO_START_CAPTURE = 2500, NAV_CMD_VIDEO_STOP_CAPTURE = 2501, NAV_CMD_DO_VTOL_TRANSITION = 3000, NAV_CMD_FENCE_RETURN_POINT = 5000, NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION = 5001, NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION = 5002, NAV_CMD_FENCE_CIRCLE_INCLUSION = 5003, NAV_CMD_FENCE_CIRCLE_EXCLUSION = 5004, NAV_CMD_INVALID = UINT16_MAX }

enum	ORIGIN { ORIGIN_MAVLINK = 0, ORIGIN_ONBOARD }

enum	NAV_FRAME { NAV_FRAME_GLOBAL = 0, NAV_FRAME_LOCAL_NED = 1, NAV_FRAME_MISSION = 2, NAV_FRAME_GLOBAL_RELATIVE_ALT = 3, NAV_FRAME_LOCAL_ENU = 4, NAV_FRAME_GLOBAL_INT = 5, NAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, NAV_FRAME_LOCAL_OFFSET_NED = 7, NAV_FRAME_BODY_NED = 8, NAV_FRAME_BODY_OFFSET_NED = 9, NAV_FRAME_GLOBAL_TERRAIN_ALT = 10, NAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11 }

Detailed Description

Definition of a mission consisting of mission items.

Author: Thomas Gubler thoma.nosp@m.sgub.nosp@m.ler@s.nosp@m.tude.nosp@m.nt.et.nosp@m.hz.c.nosp@m.h; Julian Oes joes@.nosp@m.stud.nosp@m.ent.e.nosp@m.thz..nosp@m.ch; Lorenz Meier lm@in.nosp@m.f.et.nosp@m.hz.ch

Definition in file navigation.h.

Macro Definition Documentation

◆ NAV_EPSILON_POSITION

#define NAV_EPSILON_POSITION 0.001f

Anything smaller than this is considered zero.

Definition at line 55 of file navigation.h.

Referenced by MissionFeasibilityChecker::checkTakeoff(), MissionBlock::is_mission_item_reached(), and MissionBlock::mission_item_to_position_setpoint().

◆ NUM_MISSIONS_SUPPORTED

#define NUM_MISSIONS_SUPPORTED 2000

Definition at line 52 of file navigation.h.

Enumeration Type Documentation

◆ NAV_CMD

enum NAV_CMD

Enumerator
NAV_CMD_IDLE
NAV_CMD_WAYPOINT
NAV_CMD_LOITER_UNLIMITED
NAV_CMD_LOITER_TIME_LIMIT
NAV_CMD_RETURN_TO_LAUNCH
NAV_CMD_LAND
NAV_CMD_TAKEOFF
NAV_CMD_LOITER_TO_ALT
NAV_CMD_DO_FOLLOW_REPOSITION
NAV_CMD_VTOL_TAKEOFF
NAV_CMD_VTOL_LAND
NAV_CMD_DELAY
NAV_CMD_DO_JUMP
NAV_CMD_DO_CHANGE_SPEED
NAV_CMD_DO_SET_HOME
NAV_CMD_DO_SET_SERVO
NAV_CMD_DO_LAND_START
NAV_CMD_DO_SET_ROI_LOCATION
NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET
NAV_CMD_DO_SET_ROI_NONE
NAV_CMD_DO_SET_ROI
NAV_CMD_DO_DIGICAM_CONTROL
NAV_CMD_DO_MOUNT_CONFIGURE
NAV_CMD_DO_MOUNT_CONTROL
NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL
NAV_CMD_DO_SET_CAM_TRIGG_DIST
NAV_CMD_SET_CAMERA_MODE
NAV_CMD_IMAGE_START_CAPTURE
NAV_CMD_IMAGE_STOP_CAPTURE
NAV_CMD_DO_TRIGGER_CONTROL
NAV_CMD_VIDEO_START_CAPTURE
NAV_CMD_VIDEO_STOP_CAPTURE
NAV_CMD_DO_VTOL_TRANSITION
NAV_CMD_FENCE_RETURN_POINT
NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION
NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION
NAV_CMD_FENCE_CIRCLE_INCLUSION
NAV_CMD_FENCE_CIRCLE_EXCLUSION
NAV_CMD_INVALID

Definition at line 58 of file navigation.h.

◆ NAV_FRAME

enum NAV_FRAME

Enumerator
NAV_FRAME_GLOBAL
NAV_FRAME_LOCAL_NED
NAV_FRAME_MISSION
NAV_FRAME_GLOBAL_RELATIVE_ALT
NAV_FRAME_LOCAL_ENU
NAV_FRAME_GLOBAL_INT
NAV_FRAME_GLOBAL_RELATIVE_ALT_INT
NAV_FRAME_LOCAL_OFFSET_NED
NAV_FRAME_BODY_NED
NAV_FRAME_BODY_OFFSET_NED
NAV_FRAME_GLOBAL_TERRAIN_ALT
NAV_FRAME_GLOBAL_TERRAIN_ALT_INT

Definition at line 106 of file navigation.h.

◆ ORIGIN

enum ORIGIN

Enumerator
ORIGIN_MAVLINK
ORIGIN_ONBOARD

Definition at line 100 of file navigation.h.

Classes

Macros

Enumerations