mission_common.h File Reference

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_wp.wp
union	_mission_circle.center
union	_mission_segment.from
union	_mission_segment.to
union	_mission_path.path
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, bool init)
	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 }

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...
bool	mission_element_convert (struct _mission_element *el)
	Convert mission element's points format if needed. More...
struct _mission_element *	mission_get (void)
	Get current mission element. 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_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

struct _mission_wp

Definition at line 53 of file mission_common.h.

Data Fields
union _mission_wp	wp

struct _mission_circle

Definition at line 60 of file mission_common.h.

Data Fields
union _mission_circle	center
float	radius

struct _mission_segment

Definition at line 69 of file mission_common.h.

Data Fields
union _mission_segment	from
union _mission_segment	to

struct _mission_path

Definition at line 82 of file mission_common.h.

Data Fields
uint8_t	nb
union _mission_path	path
uint8_t	path_idx

struct _mission_registered

Definition at line 103 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)

struct _mission_custom

Definition at line 108 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

struct _mission_element

Definition at line 114 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

struct _mission

Definition at line 142 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]

union _mission_wp.wp

Definition at line 54 of file mission_common.h.

Data Fields
struct EnuCoor_f	wp_f
struct EnuCoor_i	wp_i

union _mission_circle.center

Definition at line 61 of file mission_common.h.

Data Fields
struct EnuCoor_f	center_f
struct EnuCoor_i	center_i

union _mission_segment.from

Definition at line 70 of file mission_common.h.

Data Fields
struct EnuCoor_f	from_f
struct EnuCoor_i	from_i

union _mission_segment.to

Definition at line 75 of file mission_common.h.

Data Fields
struct EnuCoor_f	to_f
struct EnuCoor_i	to_i

union _mission_path.path

Definition at line 83 of file mission_common.h.

Data Fields
struct EnuCoor_f	path_f[MISSION_PATH_NB]
struct EnuCoor_i	path_i[MISSION_PATH_NB]

union _mission_element.element

Definition at line 116 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

#define MISSION_CUSTOM_MAX   12

Definition at line 92 of file mission_common.h.

#define MISSION_ELEMENT_NB   20

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

Definition at line 132 of file mission_common.h.

Referenced by mission_insert(), mission_parse_GOTO_MISSION(), mission_parse_NEXT_MISSION(), mission_run(), and mission_status_report().

#define MISSION_PATH_NB   5

Definition at line 81 of file mission_common.h.

Referenced by mission_parse_PATH(), and mission_parse_PATH_LLA().

#define MISSION_REGISTER_NB   6

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

Definition at line 139 of file mission_common.h.

Referenced by mission_get_registered(), and mission_register().

#define MISSION_TYPE_SIZE   6

Definition at line 93 of file mission_common.h.

Referenced by mission_register().

Typedef Documentation

typedef bool(* mission_custom_cb)(uint8_t nb, float *params, bool init)

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 101 of file mission_common.h.

Enumeration Type Documentation

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.

enum MissionType

Enumerator
MissionWP
MissionCircle
MissionSegment
MissionPath
MissionCustom

Definition at line 37 of file mission_common.h.

Function Documentation

bool mission_element_convert

(

struct _mission_element *

el

)

Convert mission element's points format if needed.

Parameters

el	pointer to the mission element

Returns

return TRUE if conversion is succesful, FALSE otherwise

Definition at line 126 of file mission_common.c.

References _mission_element::element, ENU_BFP_OF_REAL, MissionCircle, MissionPath, MissionSegment, MissionWP, and _mission_element::type.

Referenced by mission_insert().

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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 130 of file mission_common.c.

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

Referenced by mission_run().

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void mission_init

(

void

)

Init mission structure.

Definition at line 37 of file mission_common.c.

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

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 55 of file mission_common.c.

References Append, _mission::current_idx, _mission::elements, _mission::insert_idx, mission_element_convert(), MISSION_ELEMENT_NB, 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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int mission_parse_CIRCLE

(

uint8_t *

buf

)

Definition at line 203 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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int mission_parse_CIRCLE_LLA

(

uint8_t *

buf

)

Definition at line 221 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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int mission_parse_CUSTOM

(

uint8_t *

buf

)

Definition at line 359 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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int mission_parse_END_MISSION

(

uint8_t *

buf

)

Definition at line 404 of file mission_common.c.

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

int mission_parse_GOTO_MISSION

(

uint8_t *

buf

)

Definition at line 381 of file mission_common.c.

References _mission::current_idx, and MISSION_ELEMENT_NB.

int mission_parse_GOTO_WP

(

uint8_t *

buf

)

Parsing functions called when a mission message is received.

Definition at line 165 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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int mission_parse_GOTO_WP_LLA

(

uint8_t *

buf

)

Definition at line 182 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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int mission_parse_NEXT_MISSION

(

uint8_t *

buf

)

Definition at line 393 of file mission_common.c.

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

int mission_parse_PATH

(

uint8_t *

buf

)

Definition at line 288 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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int mission_parse_PATH_LLA

(

uint8_t *

buf

)

Definition at line 320 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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int mission_parse_SEGMENT

(

uint8_t *

buf

)

Definition at line 243 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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int mission_parse_SEGMENT_LLA

(

uint8_t *

buf

)

Definition at line 263 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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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, point::x, FloatVect2::x, EnuCoor_f::x, point::y, FloatVect2::y, EnuCoor_f::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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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 99 of file mission_common.c.

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

Referenced by nav_flower_init().

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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 148 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(), MissionCircle, MissionCustom, MissionPath, MissionSegment, MissionWP, and _mission_element::type.

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void mission_status_report

(

void

)

Report mission status.

Send mission status over datalink

Definition at line 140 of file mission_common.c.

References _mission::current_idx, DefaultChannel, DefaultDevice, _mission_element::duration, _mission::element_time, _mission::elements, _mission_element::index, _mission::insert_idx, and MISSION_ELEMENT_NB.

Variable Documentation

struct _mission mission

Definition at line 35 of file mission_common.c.

Referenced by mission_nav_circle(), and mission_run().