waypoints.h

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/*
 * Copyright (C) 2015 Felix Ruess <felix.ruess@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef WAYPOINTS_H
#define WAYPOINTS_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
 
#define WP_FLAG_GLOBAL 0
#define WP_FLAG_ENU_I 1
#define WP_FLAG_ENU_F 2
#define WP_FLAG_LLA_I 3
 
struct Waypoint {
  uint8_t flags; 
  struct EnuCoor_i enu_i;  
  struct EnuCoor_f enu_f;
  struct LlaCoor_i lla;
};
 
extern const uint8_t nb_waypoint;
extern struct Waypoint waypoints[];
 
/* aliases for backwards compatibilty */
#define WaypointX(_wp)    waypoint_get_x(_wp)
#define WaypointY(_wp)    waypoint_get_y(_wp)
#if USE_ALT_LLA_WAYPOINTS
#define WaypointAlt(_wp)  waypoint_get_lla_alt(_wp)
#else
#define WaypointAlt(_wp)  waypoint_get_alt(_wp)
#endif
#define Height(_h) (_h)
 
extern void waypoints_init(void);
 
extern bool waypoint_is_global(uint8_t wp_id);
extern void waypoint_set_global_flag(uint8_t wp_id);
extern void waypoint_clear_global_flag(uint8_t wp_id);
 
 
/*
 * Get waypoint coordinates.
 */
extern float waypoint_get_x(uint8_t wp_id);
extern float waypoint_get_y(uint8_t wp_id);
extern float waypoint_get_alt(uint8_t wp_id);
extern float waypoint_get_lla_alt(uint8_t wp_id);
extern float waypoint_get_lat_deg(uint8_t wp_id);
extern float waypoint_get_lat_rad(uint8_t wp_id);
extern float waypoint_get_lon_deg(uint8_t wp_id);
extern float waypoint_get_lon_rad(uint8_t wp_id);
 
extern struct LlaCoor_i *waypoint_get_lla(uint8_t wp_id);
 
extern struct EnuCoor_f *waypoint_get_enu_f(uint8_t wp_id);
 
extern struct EnuCoor_i *waypoint_get_enu_i(uint8_t wp_id);
 
/*
 * Set waypoint coordinates.
 */
extern void waypoint_set_enu(uint8_t wp_id, struct EnuCoor_f *enu);
extern void waypoint_set_alt(uint8_t wp_id, float alt);
 
extern void waypoint_set_here(uint8_t wp_id);
extern void waypoint_set_here_2d(uint8_t wp_id);
 
/* functions to set fixedpoint representation directly */
extern void waypoint_set_enu_i(uint8_t wp_id, struct EnuCoor_i *enu);
extern void waypoint_set_xy_i(uint8_t wp_id, int32_t x, int32_t y);
extern void waypoint_set_alt_i(uint8_t wp_id, int32_t alt);
extern void waypoint_set_lla(uint8_t wp_id, struct LlaCoor_i *lla);
 
extern void waypoint_set_latlon(uint8_t wp_id, struct LlaCoor_i *lla);
 
extern void waypoint_copy(uint8_t wp_dest, uint8_t wp_src);
extern void waypoint_position_copy(uint8_t wp_dest, uint8_t wp_src);
 
 
/*
 * Move waypoints.
 * Basically sets the coordinates and sends the WP_MOVED telemetry message as ack.
 */
extern void waypoint_move_here_2d(uint8_t wp_id);
extern void waypoint_move_enu_i(uint8_t wp_id, struct EnuCoor_i *new_pos);
extern void waypoint_move_xy_i(uint8_t wp_id, int32_t x, int32_t y);
extern void waypoint_move_lla(uint8_t wp_id, struct LlaCoor_i *lla);
 
 
/*
 * Global(LLA) / Local(ENU) conversions.
 */
 
extern void waypoint_globalize(uint8_t wp_id);
 
extern void waypoint_localize(uint8_t wp_id);
extern void waypoints_localize_all(void);
 
#ifdef __cplusplus
}
#endif
 
#endif /* WAYPOINTS_H */