mission planner library More...

#include "std.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_geodetic_int.h"

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Data Structures
struct	_mission_wp

struct	_mission_circle

struct	_mission_segment

struct	_mission_path

struct	_mission_registered

struct	_mission_custom

struct	_mission_element

struct	_mission

union	_mission_element.element

Macros
#define	MISSION_PATH_NB 5

#define	MISSION_CUSTOM_MAX 12

#define	MISSION_TYPE_SIZE 6

#define	MISSION_ELEMENT_NB 20
	Max number of elements in the tasks' list can be redefined. More...

#define	MISSION_REGISTER_NB 6
	Max number of registered nav/action callbacks can be redefined. More...

Typedefs
typedef bool(*	mission_custom_cb) (uint8_t nb, float *params, enum MissionRunFlag flag)
	custom mission element callback More...

Enumerations
enum	MissionType { MissionWP = 1 , MissionCircle = 2 , MissionSegment = 3 , MissionPath = 4 , MissionCustom = 5 }

enum	MissionInsertMode { Append , Prepend , ReplaceCurrent , ReplaceAll , ReplaceNexts }

enum	MissionRunFlag { MissionRun = 0 , MissionInit = 1 , MissionUpdate = 2 }

Functions
void	mission_init (void)
	Init mission structure. More...

bool	mission_insert (enum MissionInsertMode insert, struct _mission_element *element)
	Insert a mission element according to the insertion mode. More...

bool	mission_register (mission_custom_cb cb, char *type)
	Register a new navigation or action callback function. More...

struct _mission_element *	mission_get (void)
	Get current mission element. More...

struct _mission_element *	mission_get_from_index (uint8_t index)
	Get mission element by index. More...

bool	mission_point_of_lla (struct EnuCoor_f point, struct LlaCoor_i lla)
	Get the ENU component of LLA mission point This function is firmware specific. More...

int	mission_run (void)
	Run mission. More...

void	mission_status_report (void)
	Report mission status. More...

int	mission_parse_GOTO_WP (uint8_t *buf)
	Parsing functions called when a mission message is received. More...

int	mission_parse_GOTO_WP_LLA (uint8_t *buf)

int	mission_parse_CIRCLE (uint8_t *buf)

int	mission_parse_CIRCLE_LLA (uint8_t *buf)

int	mission_parse_SEGMENT (uint8_t *buf)

int	mission_parse_SEGMENT_LLA (uint8_t *buf)

int	mission_parse_PATH (uint8_t *buf)

int	mission_parse_PATH_LLA (uint8_t *buf)

int	mission_parse_CUSTOM (uint8_t *buf)

int	mission_parse_UPDATE (uint8_t *buf)

int	mission_parse_GOTO_MISSION (uint8_t *buf)

int	mission_parse_NEXT_MISSION (uint8_t *buf)

int	mission_parse_END_MISSION (uint8_t *buf)

Variables
struct _mission	mission

Detailed Description

mission planner library

Provide the generic interface for the mission control Handle the parsing of datalink messages

Definition in file mission_common.h.

Data Structure Documentation

◆ _mission_wp

struct _mission_wp

Definition at line 59 of file mission_common.h.

Collaboration diagram for _mission_wp:

Data Fields
struct EnuCoor_f	wp

◆ _mission_circle

struct _mission_circle

Definition at line 63 of file mission_common.h.

Collaboration diagram for _mission_circle:

Data Fields
struct EnuCoor_f	center
float	radius

◆ _mission_segment

struct _mission_segment

Definition at line 68 of file mission_common.h.

Collaboration diagram for _mission_segment:

Data Fields
struct EnuCoor_f	from
struct EnuCoor_f	to

◆ _mission_path

struct _mission_path

Definition at line 74 of file mission_common.h.

Collaboration diagram for _mission_path:

Data Fields
uint8_t	nb
struct EnuCoor_f	path[MISSION_PATH_NB]
uint8_t	path_idx

◆ _mission_registered

struct _mission_registered

Definition at line 91 of file mission_common.h.

Data Fields
mission_custom_cb	cb	navigation/action function callback
char	type[MISSION_TYPE_SIZE]	mission element identifier (5 char max + 1 \0)

◆ _mission_custom

struct _mission_custom

Definition at line 96 of file mission_common.h.

Collaboration diagram for _mission_custom:

Data Fields
uint8_t	nb	number of parameters
float	params[MISSION_CUSTOM_MAX]	list of parameters
struct _mission_registered *	reg	pointer to a registered custom mission element

◆ _mission_element

struct _mission_element

Definition at line 102 of file mission_common.h.

Data Fields
float	duration	time to spend in the element (<= 0 to disable)
union _mission_element	element
uint8_t	index	index of mission element
enum MissionType	type

◆ _mission

struct _mission

Definition at line 130 of file mission_common.h.

Collaboration diagram for _mission:

Data Fields
uint8_t	current_idx	current mission element index
float	element_time	time in second spend in the current element
struct _mission_element	elements[MISSION_ELEMENT_NB]
uint8_t	insert_idx	inserstion index
struct _mission_registered	registered[MISSION_REGISTER_NB]

◆ _mission_element.element

union _mission_element.element

Definition at line 104 of file mission_common.h.

Data Fields
struct _mission_circle	mission_circle
struct _mission_custom	mission_custom
struct _mission_path	mission_path
struct _mission_segment	mission_segment
struct _mission_wp	mission_wp

Macro Definition Documentation

◆ MISSION_CUSTOM_MAX

#define MISSION_CUSTOM_MAX 12

Definition at line 80 of file mission_common.h.

◆ MISSION_ELEMENT_NB

#define MISSION_ELEMENT_NB 20

Max number of elements in the tasks' list can be redefined.

Definition at line 120 of file mission_common.h.

◆ MISSION_PATH_NB

#define MISSION_PATH_NB 5

Definition at line 73 of file mission_common.h.

◆ MISSION_REGISTER_NB

#define MISSION_REGISTER_NB 6

Max number of registered nav/action callbacks can be redefined.

Definition at line 127 of file mission_common.h.

◆ MISSION_TYPE_SIZE

#define MISSION_TYPE_SIZE 6

Definition at line 81 of file mission_common.h.

Typedef Documentation

◆ mission_custom_cb

typedef bool(* mission_custom_cb) (uint8_t nb, float *params, enum MissionRunFlag flag)

custom mission element callback

Parameters

[in]	nb	number of params
[in]	params	array of params with a maximum of 12
[in]	init	true if the function is called for the first time

Returns: true until the function ends

Definition at line 89 of file mission_common.h.

Enumeration Type Documentation

◆ MissionInsertMode

enum MissionInsertMode

Enumerator
Append	add at the last position
Prepend	add before the current element
ReplaceCurrent	replace current element
ReplaceAll	remove all elements and add the new one
ReplaceNexts	replace the next element and remove all the others

Definition at line 45 of file mission_common.h.

◆ MissionRunFlag

enum MissionRunFlag

Enumerator
MissionRun	normal run
MissionInit	first exec
MissionUpdate	param update

Definition at line 53 of file mission_common.h.

◆ MissionType

enum MissionType

Enumerator
MissionWP
MissionCircle
MissionSegment
MissionPath
MissionCustom

Definition at line 37 of file mission_common.h.

Function Documentation

◆ mission_get()

struct _mission_element* mission_get ( void )

Get current mission element.

Returns: return a pointer to the next mission element or NULL if no more elements

Definition at line 178 of file mission_common.c.

References _mission::current_idx, _mission::elements, _mission::insert_idx, and mission.

Referenced by mission_run().

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◆ mission_get_from_index()

struct _mission_element* mission_get_from_index ( uint8_t index )

Get mission element by index.

Returns: return a pointer to the mission element or NULL if no more elements

Definition at line 162 of file mission_common.c.

References _mission::current_idx, _mission::elements, _mission_element::index, _mission::insert_idx, mission, and MISSION_ELEMENT_NB.

Referenced by mission_insert(), and mission_parse_UPDATE().

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◆ mission_init()

void mission_init ( void )

Init mission structure.

Definition at line 65 of file mission_common.c.

References _mission_registered::cb, _mission::current_idx, DefaultPeriodic, _mission::element_time, _mission::insert_idx, mission, MISSION_REGISTER_NB, MISSION_TYPE_SIZE, register_periodic_telemetry(), _mission::registered, send_mission_status(), and _mission_registered::type.

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◆ mission_insert()

bool mission_insert	(	enum MissionInsertMode	insert,
		struct _mission_element *	element
	)

Insert a mission element according to the insertion mode.

Parameters

insert	insertion mode
element	mission element structure

Returns: return TRUE if insertion is succesful, FALSE otherwise

Definition at line 83 of file mission_common.c.

References Append, _mission::current_idx, _mission::element_time, _mission::elements, _mission_element::index, _mission::insert_idx, mission, MISSION_ELEMENT_NB, mission_get_from_index(), Prepend, ReplaceAll, ReplaceCurrent, and ReplaceNexts.

Referenced by mission_parse_CIRCLE(), mission_parse_CIRCLE_LLA(), mission_parse_CUSTOM(), mission_parse_GOTO_WP(), mission_parse_GOTO_WP_LLA(), mission_parse_PATH(), mission_parse_PATH_LLA(), mission_parse_SEGMENT(), and mission_parse_SEGMENT_LLA().

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◆ mission_parse_CIRCLE()

int mission_parse_CIRCLE ( uint8_t * buf )

Definition at line 236 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_insert(), MissionCircle, and _mission_element::type.

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◆ mission_parse_CIRCLE_LLA()

int mission_parse_CIRCLE_LLA ( uint8_t * buf )

Definition at line 254 of file mission_common.c.

References LlaCoor_i::alt, _mission_element::duration, _mission_element::element, _mission_element::index, LlaCoor_i::lat, LlaCoor_i::lon, mission_insert(), mission_point_of_lla(), MissionCircle, and _mission_element::type.

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◆ mission_parse_CUSTOM()

int mission_parse_CUSTOM ( uint8_t * buf )

Definition at line 392 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_get_registered(), mission_insert(), MissionCustom, and _mission_element::type.

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◆ mission_parse_END_MISSION()

int mission_parse_END_MISSION ( uint8_t * buf )

Definition at line 474 of file mission_common.c.

References _mission::current_idx, _mission::element_time, _mission::insert_idx, and mission.

◆ mission_parse_GOTO_MISSION()

int mission_parse_GOTO_MISSION ( uint8_t * buf )

Definition at line 446 of file mission_common.c.

References _mission::current_idx, _mission::element_time, mission, and MISSION_ELEMENT_NB.

◆ mission_parse_GOTO_WP()

int mission_parse_GOTO_WP ( uint8_t * buf )

Parsing functions called when a mission message is received.

Definition at line 198 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_insert(), MissionWP, and _mission_element::type.

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◆ mission_parse_GOTO_WP_LLA()

int mission_parse_GOTO_WP_LLA ( uint8_t * buf )

Definition at line 215 of file mission_common.c.

References LlaCoor_i::alt, _mission_element::duration, _mission_element::element, _mission_element::index, LlaCoor_i::lat, LlaCoor_i::lon, mission_insert(), mission_point_of_lla(), MissionWP, and _mission_element::type.

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◆ mission_parse_NEXT_MISSION()

int mission_parse_NEXT_MISSION ( uint8_t * buf )

Definition at line 461 of file mission_common.c.

References _mission::current_idx, _mission::element_time, _mission::insert_idx, mission, and MISSION_ELEMENT_NB.

◆ mission_parse_PATH()

int mission_parse_PATH ( uint8_t * buf )

Definition at line 321 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_insert(), MISSION_PATH_NB, MissionPath, and _mission_element::type.

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◆ mission_parse_PATH_LLA()

int mission_parse_PATH_LLA ( uint8_t * buf )

Definition at line 353 of file mission_common.c.

References LlaCoor_i::alt, _mission_element::duration, _mission_element::element, _mission_element::index, LlaCoor_i::lat, LlaCoor_i::lon, mission_insert(), MISSION_PATH_NB, mission_point_of_lla(), MissionPath, and _mission_element::type.

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◆ mission_parse_SEGMENT()

int mission_parse_SEGMENT ( uint8_t * buf )

Definition at line 276 of file mission_common.c.

References _mission_element::duration, _mission_element::element, _mission_element::index, mission_insert(), MissionSegment, and _mission_element::type.

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◆ mission_parse_SEGMENT_LLA()

int mission_parse_SEGMENT_LLA ( uint8_t * buf )

Definition at line 296 of file mission_common.c.

References LlaCoor_i::alt, _mission_element::duration, _mission_element::element, _mission_element::index, LlaCoor_i::lat, LlaCoor_i::lon, mission_insert(), mission_point_of_lla(), MissionSegment, and _mission_element::type.

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◆ mission_parse_UPDATE()

int mission_parse_UPDATE ( uint8_t * buf )

Definition at line 414 of file mission_common.c.

References _mission_element::duration, _mission_element::element, MISSION_CUSTOM_MAX, mission_get_from_index(), MissionCircle, MissionCustom, MissionPath, MissionSegment, MissionUpdate, MissionWP, and _mission_element::type.

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◆ mission_point_of_lla()

bool mission_point_of_lla	(	struct EnuCoor_f *	point,
		struct LlaCoor_i *	lla
	)

Get the ENU component of LLA mission point This function is firmware specific.

Parameters

point	pointer to the output ENU point (float)
lla	pointer to the input LLA coordinates (int)

Returns: TRUE if conversion is succesful, FALSE otherwise

Get the ENU component of LLA mission point This function is firmware specific.

TODO: don't convert to float, either use double or do completely in fixed point

Definition at line 38 of file mission_fw_nav.c.

References LlaCoor_f::alt, LlaCoor_i::alt, BUFFER_ZONE_DIST, UtmCoor_f::east, enu_of_lla_point_i(), float_vect2_norm(), LtpDef_i::hmsl, LtpDef_i::lla, LLA_FLOAT_OF_BFP, max_dist_from_home, nav_utm_east0, nav_utm_north0, nav_utm_zone0, State::ned_initialized_i, State::ned_origin_i, UtmCoor_f::north, state, utm_of_lla_f(), VECT2_DIFF, VECT2_SMUL, VECT2_SUM, VECT3_SMUL, waypoint_get_x(), waypoint_get_y(), waypoints, FloatVect2::x, point::x, FloatVect2::y, point::y, EnuCoor_f::z, and UtmCoor_f::zone.

Referenced by mission_parse_CIRCLE_LLA(), mission_parse_GOTO_WP_LLA(), mission_parse_PATH_LLA(), and mission_parse_SEGMENT_LLA().

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◆ mission_register()

bool mission_register	(	mission_custom_cb	cb,
		char *	type
	)

Register a new navigation or action callback function.

Parameters

cb	callback f(nb, param array)
type	string identifier with 5 characters max (+ 1 '\0' char)

Returns: return TRUE if register is succesful, FALSE otherwise

Definition at line 135 of file mission_common.c.

References _mission_registered::cb, mission, MISSION_REGISTER_NB, MISSION_TYPE_SIZE, _mission::registered, and _mission_registered::type.

Referenced by nav_lace_init(), nav_line_init(), nav_rosette_init(), nav_spiral_3D_init(), nav_survey_hybrid_init(), nav_takeoff_and_landing_init(), and nav_trinity_init().

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◆ mission_run()

int mission_run ( void )

Run mission.

This function should be implemented into a dedicated file since navigation functions are different for different firmwares

Currently, this function should be called from the flight plan

Returns: return TRUE when the mission is running, FALSE when it is finished

Definition at line 192 of file mission_fw_nav.c.

References _mission::current_idx, dt_navigation, _mission_element::duration, _mission_element::element, _mission::element_time, mission, MISSION_ELEMENT_NB, mission_get(), mission_nav_circle(), mission_nav_custom(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), mission_wait_pattern(), mission_wait_started, MissionCircle, MissionCustom, MissionPath, MissionSegment, MissionWP, and _mission_element::type.

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◆ mission_status_report()

void mission_status_report ( void )

Report mission status.

Send mission status over datalink

Definition at line 188 of file mission_common.c.

References DefaultChannel, DefaultDevice, and send_mission_status().

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Variable Documentation

◆ mission

struct _mission mission

extern

Definition at line 1 of file mission_common.c.

Referenced by mission_get(), mission_get_from_index(), mission_get_registered(), mission_init(), mission_insert(), mission_nav_circle(), mission_parse_END_MISSION(), mission_parse_GOTO_MISSION(), mission_parse_NEXT_MISSION(), mission_register(), mission_run(), and send_mission_status().

Data Structures

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Data Structure Documentation

◆ _mission_wp

◆ _mission_circle

◆ _mission_segment

◆ _mission_path

◆ _mission_registered

◆ _mission_custom

◆ _mission_element

◆ _mission

◆ _mission_element.element

Macro Definition Documentation

◆ MISSION_CUSTOM_MAX

◆ MISSION_ELEMENT_NB

◆ MISSION_PATH_NB

◆ MISSION_REGISTER_NB

◆ MISSION_TYPE_SIZE

Typedef Documentation

◆ mission_custom_cb

Enumeration Type Documentation

◆ MissionInsertMode

◆ MissionRunFlag

◆ MissionType

Function Documentation

◆ mission_get()

◆ mission_get_from_index()

◆ mission_init()

◆ mission_insert()

◆ mission_parse_CIRCLE()

◆ mission_parse_CIRCLE_LLA()

◆ mission_parse_CUSTOM()

◆ mission_parse_END_MISSION()

◆ mission_parse_GOTO_MISSION()

◆ mission_parse_GOTO_WP()

◆ mission_parse_GOTO_WP_LLA()

◆ mission_parse_NEXT_MISSION()

◆ mission_parse_PATH()

◆ mission_parse_PATH_LLA()

◆ mission_parse_SEGMENT()

◆ mission_parse_SEGMENT_LLA()

◆ mission_parse_UPDATE()

◆ mission_point_of_lla()

◆ mission_register()

◆ mission_run()

◆ mission_status_report()

Variable Documentation

◆ mission