Common interface for mission control.

This module parse datalink commands for basic navigation routines and store them in a queue.

Example for airframe file

Add to your firmware section:

Module configuration options

Airframe file section

section name: MISSION prefix: MISSION_
- name ELEMENT_NB value: 20
  Description: maximum number of elements in the mission queue
- name REGISTER_NB value: 6
  Description: maximum number of custom elemets to register
- name CHECK_UNIQUE_ID value: TRUE|FALSE
  Description: check before inserting that all elements ID are unique in the queue (default: TRUE)
- name ALT_PROXIMITY value: distance
  Description: if defined, enforce a vertical proximity to validate the target points (default: undefined)
- name WAIT_TIMEOUT value: time
  Description: time in waiting pattern when queue is empty before ending the mission (default: fixedwing=120, rotorcraft=30)

Module functions

Init Functions

These initialization functions are called once on startup.

mission_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

mission_status_report()
- Frequency in Hz: 2
- Autorun: TRUE
  Periodic function automatically starts after init.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

on message MISSION_GOTO_WP call mission_parse_GOTO_WP(buf)
on message MISSION_GOTO_WP_LLA call mission_parse_GOTO_WP_LLA(buf)
on message MISSION_CIRCLE call mission_parse_CIRCLE(buf)
on message MISSION_CIRCLE_LLA call mission_parse_CIRCLE_LLA(buf)
on message MISSION_SEGMENT call mission_parse_SEGMENT(buf)
on message MISSION_SEGMENT_LLA call mission_parse_SEGMENT_LLA(buf)
on message MISSION_PATH call mission_parse_PATH(buf)
on message MISSION_PATH_LLA call mission_parse_PATH_LLA(buf)
on message MISSION_CUSTOM call mission_parse_CUSTOM(buf)
on message MISSION_UPDATE call mission_parse_UPDATE(buf)
on message GOTO_MISSION call mission_parse_GOTO_MISSION(buf)
on message NEXT_MISSION call mission_parse_NEXT_MISSION(buf)
on message END_MISSION call mission_parse_END_MISSION(buf)

Files

Header Files

The following headers are automatically included in modules.h

mission_common.h

Source Files

modules/mission/mission_common.c

Raw mission_common.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="mission_common" dir="mission" task="control">
  <doc>
    <description>
      Common interface for mission control.
      This module parse datalink commands for basic navigation routines
      and store them in a queue.
    </description>
    <section name="MISSION" prefix="MISSION_">
      <define name="ELEMENT_NB" value="20" description="maximum number of elements in the mission queue"/>
      <define name="REGISTER_NB" value="6" description="maximum number of custom elemets to register"/>
      <define name="CHECK_UNIQUE_ID" value="TRUE|FALSE" description="check before inserting that all elements ID are unique in the queue (default: TRUE)"/>
      <define name="ALT_PROXIMITY" value="distance" unit="m" description="if defined, enforce a vertical proximity to validate the target points (default: undefined)"/>
      <define name="WAIT_TIMEOUT" value="time" unit="s" description="time in waiting pattern when queue is empty before ending the mission (default: fixedwing=120, rotorcraft=30)"/>
    </section>
  </doc>
  <header>
    <file name="mission_common.h"/>
  </header>
  <init fun="mission_init()"/>
  <periodic fun="mission_status_report()" freq="2" autorun="TRUE"/>
 
  <datalink message="MISSION_GOTO_WP" fun="mission_parse_GOTO_WP(buf)"/>
  <datalink message="MISSION_GOTO_WP_LLA" fun="mission_parse_GOTO_WP_LLA(buf)"/>
  <datalink message="MISSION_CIRCLE" fun="mission_parse_CIRCLE(buf)"/>
  <datalink message="MISSION_CIRCLE_LLA" fun="mission_parse_CIRCLE_LLA(buf)"/>
  <datalink message="MISSION_SEGMENT" fun="mission_parse_SEGMENT(buf)"/>
  <datalink message="MISSION_SEGMENT_LLA" fun="mission_parse_SEGMENT_LLA(buf)"/>
  <datalink message="MISSION_PATH" fun="mission_parse_PATH(buf)"/>
  <datalink message="MISSION_PATH_LLA" fun="mission_parse_PATH_LLA(buf)"/>
  <datalink message="MISSION_CUSTOM" fun="mission_parse_CUSTOM(buf)"/>
  <datalink message="MISSION_UPDATE" fun="mission_parse_UPDATE(buf)"/>
  <datalink message="GOTO_MISSION" fun="mission_parse_GOTO_MISSION(buf)"/>
  <datalink message="NEXT_MISSION" fun="mission_parse_NEXT_MISSION(buf)"/>
  <datalink message="END_MISSION" fun="mission_parse_END_MISSION(buf)"/>
 
  <makefile>
    <define name="USE_MISSION"/>
    <file name="mission_common.c"/>
    <test firmware="fixedwing">
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>