waypoints.h File Reference

#include <mavlink_types.h>
#include <mavlink.h>
#include <stdbool.h>

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Classes
struct	mavlink_wpm_storage
Defines
#define	MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE
	Enable double buffer and in-flight updates.
#define	MAVLINK_WPM_MAX_WP_COUNT   15
#define	MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT   40
#define	MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT   5000
	Protocol communication timeout in milliseconds.
#define	MAVLINK_WPM_SETPOINT_DELAY_DEFAULT   1000
	When to send a new setpoint.
Typedefs
typedef struct mavlink_wpm_storage	mavlink_wpm_storage
Enumerations
enum	MAVLINK_WPM_CODES {   MAVLINK_WPM_CODE_OK = 0, MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,   MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, MAVLINK_WPM_CODE_ENUM_END }
enum	MAVLINK_WPM_STATES {   MAVLINK_WPM_STATE_IDLE = 0, MAVLINK_WPM_STATE_SENDLIST, MAVLINK_WPM_STATE_SENDLIST_SENDWPS, MAVLINK_WPM_STATE_GETLIST,   MAVLINK_WPM_STATE_GETLIST_GETWPS, MAVLINK_WPM_STATE_GETLIST_GOTALL, MAVLINK_WPM_STATE_ENUM_END }
Functions
void	mavlink_send_uart_bytes (mavlink_channel_t chan, uint8_t *buffer, uint16_t len)
void	mavlink_wpm_init (mavlink_wpm_storage *state)
void	mavlink_wpm_loop ()
void	mavlink_wpm_message_handler (const mavlink_message_t *msg)
Variables
mavlink_system_t	mavlink_system

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Define Documentation

#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE

Enable double buffer and in-flight updates.

Definition at line 64 of file waypoints.h.

#define MAVLINK_WPM_MAX_WP_COUNT   15

Definition at line 63 of file waypoints.h.

#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT   40

Definition at line 70 of file waypoints.h.

#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT   5000

Protocol communication timeout in milliseconds.

Definition at line 68 of file waypoints.h.

#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT   1000

When to send a new setpoint.

Definition at line 69 of file waypoints.h.

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Typedef Documentation

typedef struct mavlink_wpm_storage mavlink_wpm_storage

Definition at line 100 of file waypoints.h.

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Enumeration Type Documentation

enum MAVLINK_WPM_CODES

Enumerator:

MAVLINK_WPM_CODE_OK
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED
MAVLINK_WPM_CODE_ENUM_END

Definition at line 50 of file waypoints.h.

enum MAVLINK_WPM_STATES

Enumerator:

MAVLINK_WPM_STATE_IDLE
MAVLINK_WPM_STATE_SENDLIST
MAVLINK_WPM_STATE_SENDLIST_SENDWPS
MAVLINK_WPM_STATE_GETLIST
MAVLINK_WPM_STATE_GETLIST_GETWPS
MAVLINK_WPM_STATE_GETLIST_GOTALL
MAVLINK_WPM_STATE_ENUM_END

Definition at line 39 of file waypoints.h.

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Function Documentation

void mavlink_send_uart_bytes	(	mavlink_channel_t	chan,
		uint8_t *	buffer,
		uint16_t	len
	)

void mavlink_wpm_init

(

mavlink_wpm_storage *

state

)

< indicates if the system is following the waypoints or is waiting

< id of current waypoint

< boolean for yaw attitude reached

< boolean for position reached

< timestamp when the MAV was last outside the orbit or had the wrong yaw value

< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value

Definition at line 40 of file waypoints.c.

void mavlink_wpm_loop

(

)

Definition at line 288 of file waypoints.c.

void mavlink_wpm_message_handler

(

const mavlink_message_t *

msg

)

Definition at line 317 of file waypoints.c.

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Variable Documentation

mavlink_system_t mavlink_system

Definition at line 65 of file main.c.