Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
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mission_manager.h
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1 /*
2  * Copyright (C) 2015 Lodewijk Sikkel <l.n.c.sikkel@tudelft.nl>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
29 #ifndef MISSIONLIB_COMMON_H
30 #define MISSIONLIB_COMMON_H
31 
32 #include <mavlink/mavlink_types.h>
33 
34 #ifndef MAVLINK_TIMEOUT
35 #define MAVLINK_TIMEOUT 15 // as in MAVLink waypoint convention
36 #endif
37 
44 };
45 
47  uint8_t current_block; // Counter that holds the index of the current block
48  enum MAVLINK_MISSION_MGR_STATES state; // The current state of the mission handler
49  uint16_t seq; // Sequence id (position of the current item on the list)
50  uint8_t rem_sysid; // Remote system id
51  uint8_t rem_compid; // Remote component id
52  int timer_id; // Timer id
53 };
54 
56 
58 
59 
61 extern void mavlink_mission_message_handler(const mavlink_message_t *msg);
62 extern void mavlink_mission_periodic(void);
63 
64 extern void mavlink_send_mission_ack(void);
65 
66 extern void mavlink_mission_set_timer(void);
67 extern void mavlink_mission_cancel_timer(void);
68 
69 #endif
unsigned short uint16_t
Definition: types.h:16
void mavlink_mission_init(mavlink_mission_mgr *mgr)
void mavlink_mission_cancel_timer(void)
void mavlink_mission_set_timer(void)
void mavlink_mission_periodic(void)
update current block and send if changed
void mavlink_mission_message_handler(const mavlink_message_t *msg)
void mavlink_send_mission_ack(void)
MAVLINK_MISSION_MGR_STATES
State machine.
unsigned char uint8_t
Definition: types.h:14
mavlink_mission_mgr mission_mgr
Definition: mavlink.c:73
enum MAVLINK_MISSION_MGR_STATES state
uint8_t msg[10]
Buffer used for general comunication over SPI (out buffer)