Global position setpoint in WGS84 coordinates. More...

#include <navigation.h>

Collaboration diagram for mission_item_s:

Public Attributes
double	lat
	latitude in degrees More...

double	lon
	longitude in degrees More...

union {
struct {
union {
float time_inside
	time that the MAV should stay inside the radius before advancing in seconds More...

float pitch_min
	minimal pitch angle for fixed wing takeoff waypoints More...

float circle_radius
	geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) More...

}

float acceptance_radius
	default radius in which the mission is accepted as reached in meters More...

float loiter_radius
	loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise More...

float yaw
	in radians NED -PI..+PI, NAN means don't change yaw More...

float ___lat_float
	padding More...

float ___lon_float
	padding More...

float altitude
	altitude in meters (AMSL) More...

}

float params [7]
	array to store mission command values for MAV_FRAME_MISSION More...

};

uint16_t	nav_cmd
	navigation command More...

int16_t	do_jump_mission_index
	index where the do jump will go to More...

uint16_t	do_jump_repeat_count
	how many times do jump needs to be done More...

union {
uint16_t do_jump_current_count
	count how many times the jump has been done More...

uint16_t vertex_count
	Polygon vertex count (geofence) More...

uint16_t land_precision
	Defines if landing should be precise: 0 = normal landing, 1 = opportunistic precision landing, 2 = required precision landing (with search) More...

};

struct {
uint16_t frame: 4
	mission frame More...

uint16_t origin: 3
	how the mission item was generated More...

uint16_t loiter_exit_xtrack: 1
	exit xtrack location: 0 for center of loiter wp, 1 for exit location More...

uint16_t force_heading: 1
	heading needs to be reached More...

uint16_t altitude_is_relative: 1
	true if altitude is relative from start point More...

uint16_t autocontinue: 1
	true if next waypoint should follow after this one More...

uint16_t vtol_back_transition: 1
	part of the vtol back transition sequence More...

uint16_t _padding0: 4
	padding remaining unused bits More...

};

uint8_t	_padding1 [2]
	padding struct size to alignment boundary More...

Detailed Description

Global position setpoint in WGS84 coordinates.

This is the position the MAV is heading towards. If it is of type loiter, the MAV is circling around it with the given loiter radius in meters.

Corresponds to one of the DM_KEY_WAYPOINTS_OFFBOARD_* dataman items

Definition at line 145 of file navigation.h.

Member Data Documentation

◆ @124

union { ... }

◆ @126

union { ... }

◆ @128

struct { ... }

◆ ___lat_float

float mission_item_s::___lat_float

padding

Definition at line 158 of file navigation.h.

◆ ___lon_float

float mission_item_s::___lon_float

padding

Definition at line 159 of file navigation.h.

◆ _padding0

uint16_t mission_item_s::_padding0

padding remaining unused bits

Definition at line 177 of file navigation.h.

◆ _padding1

uint8_t mission_item_s::_padding1[2]

padding struct size to alignment boundary

Definition at line 187 of file navigation.h.

◆ acceptance_radius

float mission_item_s::acceptance_radius

default radius in which the mission is accepted as reached in meters

Definition at line 155 of file navigation.h.

Referenced by Mission::altitude_sp_foh_update(), MissionFeasibilityChecker::checkTakeoff(), Mission::do_abort_landing(), MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::is_mission_item_reached(), MissionBlock::mission_item_to_position_setpoint(), MissionBlock::MissionBlock(), MavlinkMissionManager::parse_mavlink_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), RCLoss::set_rcl_item(), and RTL::set_rtl_item().

◆ altitude

float mission_item_s::altitude

altitude in meters (AMSL)

Definition at line 160 of file navigation.h.

Referenced by Geofence::check(), MissionFeasibilityChecker::checkFixedWingLanding(), MissionFeasibilityChecker::checkHomePositionAltitude(), MissionFeasibilityChecker::checkTakeoff(), Mission::copy_position_if_valid(), Mission::do_abort_landing(), MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::get_absolute_altitude_for_item(), MavlinkMissionManager::handle_mission_item_both(), MissionBlock::is_mission_item_reached(), MissionBlock::issue_command(), MissionBlock::mission_apply_limitation(), MavlinkMissionManager::parse_mavlink_mission_item(), MavlinkMissionManager::send_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), and MissionBlock::set_takeoff_item().

◆ altitude_is_relative

uint16_t mission_item_s::altitude_is_relative

true if altitude is relative from start point

Definition at line 177 of file navigation.h.

Referenced by MissionFeasibilityChecker::checkHomePositionAltitude(), MissionFeasibilityChecker::checkTakeoff(), Mission::copy_position_if_valid(), Mission::do_abort_landing(), MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::get_absolute_altitude_for_item(), MissionBlock::is_mission_item_reached(), MissionBlock::issue_command(), MissionBlock::mission_apply_limitation(), MavlinkMissionManager::parse_mavlink_mission_item(), Mission::set_align_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), and MissionBlock::set_takeoff_item().

◆ autocontinue

uint16_t mission_item_s::autocontinue

true if next waypoint should follow after this one

Definition at line 177 of file navigation.h.

Referenced by Mission::do_abort_landing(), MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::MissionBlock(), Mission::on_active(), MavlinkMissionManager::parse_mavlink_mission_item(), Mission::set_align_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), MissionBlock::set_takeoff_item(), and MissionBlock::set_vtol_transition_item().

◆ circle_radius

float mission_item_s::circle_radius

geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*)

Definition at line 153 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MavlinkMissionManager::handle_mission_item_both(), MavlinkMissionManager::parse_mavlink_mission_item(), and MavlinkMissionManager::send_mission_item().

◆ do_jump_current_count

uint16_t mission_item_s::do_jump_current_count

count how many times the jump has been done

Definition at line 171 of file navigation.h.

Referenced by MavlinkMissionManager::parse_mavlink_mission_item(), Mission::read_mission_item(), and Mission::reset_mission().

◆ do_jump_mission_index

int16_t mission_item_s::do_jump_mission_index

index where the do jump will go to

Definition at line 167 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MavlinkMissionManager::parse_mavlink_mission_item(), and Mission::read_mission_item().

◆ do_jump_repeat_count

uint16_t mission_item_s::do_jump_repeat_count

how many times do jump needs to be done

Definition at line 168 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MavlinkMissionManager::parse_mavlink_mission_item(), and Mission::read_mission_item().

◆ force_heading

uint16_t mission_item_s::force_heading

heading needs to be reached

Definition at line 177 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::is_mission_item_reached(), MavlinkMissionManager::parse_mavlink_mission_item(), Mission::set_align_mission_item(), and Mission::set_mission_items().

◆ frame

uint16_t mission_item_s::frame

mission frame

Definition at line 177 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MavlinkMissionManager::handle_mission_item_both(), MavlinkMissionManager::parse_mavlink_mission_item(), and MavlinkMissionManager::send_mission_item().

◆ land_precision

uint16_t mission_item_s::land_precision

Defines if landing should be precise: 0 = normal landing, 1 = opportunistic precision landing, 2 = required precision landing (with search)

Definition at line 173 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MavlinkMissionManager::parse_mavlink_mission_item(), and Mission::set_mission_items().

◆ lat

double mission_item_s::lat

latitude in degrees

Definition at line 146 of file navigation.h.

Referenced by Mission::altitude_sp_foh_update(), Geofence::check(), MissionFeasibilityChecker::checkDistancesBetweenWaypoints(), MissionFeasibilityChecker::checkDistanceToFirstWaypoint(), MissionFeasibilityChecker::checkFixedWingLanding(), Mission::copy_position_if_valid(), Mission::do_abort_landing(), Mission::do_need_move_to_land(), Mission::do_need_move_to_takeoff(), MavlinkMissionManager::format_mavlink_mission_item(), MavlinkMissionManager::handle_mission_item_both(), Mission::index_closest_mission_item(), MissionBlock::is_mission_item_reached(), MissionBlock::issue_command(), MissionBlock::mission_item_to_position_setpoint(), MissionBlock::MissionBlock(), MavlinkMissionManager::parse_mavlink_mission_item(), MavlinkMissionManager::send_mission_item(), Mission::set_align_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), and MissionBlock::set_takeoff_item().

◆ loiter_exit_xtrack

uint16_t mission_item_s::loiter_exit_xtrack

exit xtrack location: 0 for center of loiter wp, 1 for exit location

Definition at line 177 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::is_mission_item_reached(), and MavlinkMissionManager::parse_mavlink_mission_item().

◆ loiter_radius

float mission_item_s::loiter_radius

loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise

Definition at line 156 of file navigation.h.

Referenced by Mission::altitude_sp_foh_update(), Mission::do_abort_landing(), MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::is_mission_item_reached(), MissionBlock::mission_item_to_position_setpoint(), MissionBlock::MissionBlock(), MavlinkMissionManager::parse_mavlink_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), and MissionBlock::set_takeoff_item().

◆ lon

double mission_item_s::lon

longitude in degrees

Definition at line 147 of file navigation.h.

Referenced by Mission::altitude_sp_foh_update(), Geofence::check(), MissionFeasibilityChecker::checkDistancesBetweenWaypoints(), MissionFeasibilityChecker::checkDistanceToFirstWaypoint(), MissionFeasibilityChecker::checkFixedWingLanding(), Mission::copy_position_if_valid(), Mission::do_abort_landing(), Mission::do_need_move_to_land(), Mission::do_need_move_to_takeoff(), MavlinkMissionManager::format_mavlink_mission_item(), MavlinkMissionManager::handle_mission_item_both(), Mission::index_closest_mission_item(), MissionBlock::is_mission_item_reached(), MissionBlock::issue_command(), MissionBlock::mission_item_to_position_setpoint(), MissionBlock::MissionBlock(), MavlinkMissionManager::parse_mavlink_mission_item(), MavlinkMissionManager::send_mission_item(), Mission::set_align_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), and MissionBlock::set_takeoff_item().

◆ nav_cmd

uint16_t mission_item_s::nav_cmd

navigation command

Definition at line 165 of file navigation.h.

Referenced by Mission::altitude_sp_foh_update(), MissionFeasibilityChecker::checkFixedWingLanding(), MissionFeasibilityChecker::checkMissionItemValidity(), MissionFeasibilityChecker::checkTakeoff(), Mission::do_abort_landing(), Mission::do_need_move_to_land(), Mission::do_need_move_to_takeoff(), Mission::do_need_vertical_takeoff(), MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::get_time_inside(), MavlinkMissionManager::handle_mission_item_both(), Mission::index_closest_mission_item(), MissionBlock::is_mission_item_reached(), MissionBlock::issue_command(), MissionBlock::item_contains_position(), MissionBlock::mission_item_to_position_setpoint(), Mission::on_active(), MavlinkMissionManager::parse_mavlink_mission_item(), Mission::read_mission_item(), Mission::reset_mission(), MavlinkMissionManager::send_mission_item(), Mission::set_align_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), MissionBlock::set_takeoff_item(), and MissionBlock::set_vtol_transition_item().

◆ origin

uint16_t mission_item_s::origin

how the mission item was generated

Definition at line 177 of file navigation.h.

Referenced by Mission::do_abort_landing(), MissionBlock::MissionBlock(), MavlinkMissionManager::parse_mavlink_mission_item(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), and MissionBlock::set_takeoff_item().

◆ params

float mission_item_s::params[7]

array to store mission command values for MAV_FRAME_MISSION

Definition at line 162 of file navigation.h.

Referenced by MissionFeasibilityChecker::checkMissionItemValidity(), MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::issue_command(), MavlinkMissionManager::parse_mavlink_mission_item(), and MissionBlock::set_vtol_transition_item().

◆ pitch_min

float mission_item_s::pitch_min

minimal pitch angle for fixed wing takeoff waypoints

Definition at line 152 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::mission_item_to_position_setpoint(), MavlinkMissionManager::parse_mavlink_mission_item(), and MissionBlock::set_takeoff_item().

◆ time_inside

float mission_item_s::time_inside

time that the MAV should stay inside the radius before advancing in seconds

Definition at line 151 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MissionBlock::get_time_inside(), MissionBlock::MissionBlock(), MavlinkMissionManager::parse_mavlink_mission_item(), Mission::set_align_mission_item(), DataLinkLoss::set_dll_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), Mission::set_mission_items(), RCLoss::set_rcl_item(), and RTL::set_rtl_item().

◆ vertex_count

uint16_t mission_item_s::vertex_count

Polygon vertex count (geofence)

Definition at line 172 of file navigation.h.

Referenced by MavlinkMissionManager::format_mavlink_mission_item(), MavlinkMissionManager::handle_mission_item_both(), MavlinkMissionManager::parse_mavlink_mission_item(), and MavlinkMissionManager::send_mission_item().

◆ vtol_back_transition

uint16_t mission_item_s::vtol_back_transition

part of the vtol back transition sequence

Definition at line 177 of file navigation.h.

Referenced by MissionBlock::is_mission_item_reached(), and Mission::set_mission_items().

◆ yaw

float mission_item_s::yaw

The documentation for this struct was generated from the following file:

src/modules/navigator/navigation.h

Public Attributes

Detailed Description

Member Data Documentation

◆ @124

◆ @126

◆ @128

◆ ___lat_float

◆ ___lon_float

◆ _padding0

◆ _padding1

◆ acceptance_radius

◆ altitude

◆ altitude_is_relative

◆ autocontinue

◆ circle_radius

◆ do_jump_current_count

◆ do_jump_mission_index

◆ do_jump_repeat_count

◆ force_heading

◆ frame

◆ land_precision

◆ lat

◆ loiter_exit_xtrack

◆ loiter_radius

◆ lon

◆ nav_cmd

◆ origin

◆ params

◆ pitch_min

◆ time_inside

◆ vertex_count

◆ vtol_back_transition

◆ yaw