Interface for mission control of rotorcraft.

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

Example for airframe file

Add to your firmware section:

1 <module name="mission_rotorcraft"/>

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()
on message MISSION_GOTO_WP_LLA call mission_parse_GOTO_WP_LLA()
on message MISSION_CIRCLE call mission_parse_CIRCLE()
on message MISSION_CIRCLE_LLA call mission_parse_CIRCLE_LLA()
on message MISSION_SEGMENT call mission_parse_SEGMENT()
on message MISSION_SEGMENT_LLA call mission_parse_SEGMENT_LLA()
on message MISSION_PATH call mission_parse_PATH()
on message MISSION_PATH_LLA call mission_parse_PATH_LLA()
on message GOTO_MISSION call mission_parse_GOTO_MISSION()
on message NEXT_MISSION call mission_parse_NEXT_MISSION()
on message END_MISSION call mission_parse_END_MISSION()

Files

Header Files

The following headers are automatically included in modules.h

mission_common.h

Source Files

Raw mission_rotorcraft.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="mission_rotorcraft" dir="mission">
  <doc>
    <description>
      Interface for mission control of rotorcraft.
      This module parse datalink commands for basic navigation routines
      and store them in a queue.
    </description>
  </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()"/>
  <datalink message="MISSION_GOTO_WP_LLA" fun="mission_parse_GOTO_WP_LLA()"/>
  <datalink message="MISSION_CIRCLE" fun="mission_parse_CIRCLE()"/>
  <datalink message="MISSION_CIRCLE_LLA" fun="mission_parse_CIRCLE_LLA()"/>
  <datalink message="MISSION_SEGMENT" fun="mission_parse_SEGMENT()"/>
  <datalink message="MISSION_SEGMENT_LLA" fun="mission_parse_SEGMENT_LLA()"/>
  <datalink message="MISSION_PATH" fun="mission_parse_PATH()"/>
  <datalink message="MISSION_PATH_LLA" fun="mission_parse_PATH_LLA()"/>
  <datalink message="GOTO_MISSION" fun="mission_parse_GOTO_MISSION()"/>
  <datalink message="NEXT_MISSION" fun="mission_parse_NEXT_MISSION()"/>
  <datalink message="END_MISSION" fun="mission_parse_END_MISSION()"/>
  <makefile>
    <file name="mission_common.c"/>
    <file name="mission_rotorcraft_nav.c"/>
  </makefile>
</module>