text: /****************************************************************************
   *
   *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
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   ****************************************************************************/
  
  /**
   * @file navigation.h
   * Definition of a mission consisting of mission items.
   * @author Thomas Gubler <thomasgubler@student.ethz.ch>
   * @author Julian Oes <joes@student.ethz.ch>
   * @author Lorenz Meier <lm@inf.ethz.ch>
   */
  
  #ifndef NAVIGATION_H_
  #define NAVIGATION_H_
  
  #include <stdint.h>
  #include <stdbool.h>
  
  #define NUM_MISSIONS_SUPPORTED 256
  
  #define NAV_EPSILON_POSITION	0.001f	/**< Anything smaller than this is considered zero */
  
  /* compatible to mavlink MAV_CMD */
  enum NAV_CMD {
  	NAV_CMD_IDLE = 0,
  	NAV_CMD_WAYPOINT = 16,
  	NAV_CMD_LOITER_UNLIMITED = 17,
  	NAV_CMD_LOITER_TURN_COUNT = 18,
  	NAV_CMD_LOITER_TIME_LIMIT = 19,
  	NAV_CMD_RETURN_TO_LAUNCH = 20,
  	NAV_CMD_LAND = 21,
  	NAV_CMD_TAKEOFF = 22,
  	NAV_CMD_ROI = 80,
  	NAV_CMD_PATHPLANNING = 81,
  	NAV_CMD_DO_JUMP = 177,
  	NAV_CMD_DO_SET_SERVO=183,
  	NAV_CMD_DO_REPEAT_SERVO=184,
  	NAV_CMD_INVALID=UINT16_MAX /* ensure that casting a large number results in a specific error */
  };
  
  enum ORIGIN {
  	ORIGIN_MAVLINK = 0,
  	ORIGIN_ONBOARD
  };
  
  /**
   * @addtogroup topics
   * @{
   */
  
  /**
   * Global position setpoint in WGS84 coordinates.
   *
   * This is the position the MAV is heading towards. If it of type loiter,
   * the MAV is circling around it with the given loiter radius in meters.
   */
  #pragma pack(push, 1)
  struct mission_item_s {
  	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
  	double lat;			/**< latitude in degrees				*/
  	double lon;			/**< longitude in degrees				*/
  	float altitude;			/**< altitude in meters	(AMSL)			*/
  	float yaw;			/**< in radians NED -PI..+PI, NAN means don't change yaw		*/
  	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
  	int8_t loiter_direction;	/**< 1: positive / clockwise, -1, negative.		*/
  	unsigned nav_cmd;		/**< navigation command					*/
  	float acceptance_radius;	/**< default radius in which the mission is accepted as reached in meters */
  	float time_inside;		/**< time that the MAV should stay inside the radius before advancing in seconds */
  	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
  	bool autocontinue;		/**< true if next waypoint should follow after this one */
  	unsigned origin;		/**< where the waypoint has been generated		*/
  	int do_jump_mission_index;	/**< index where the do jump will go to                 */
  	unsigned do_jump_repeat_count;	/**< how many times do jump needs to be done            */
  	unsigned do_jump_current_count;	/**< count how many times the jump has been done	*/
  	int actuator_num;               /**< actuator number to be set 0..5 ( corresponds to AUX outputs 1..6    */
  	int actuator_value;             /**< new value for selected actuator in ms 900...2000         */
  	float params[7];		/**< array to store mission command values for MAV_FRAME_MISSION ***/
  };
  #pragma pack(pop)
  #include <uORB/topics/mission.h>
  
  /**
   * @}
   */
  
  /* register this as object request broker structure */
  ORB_DECLARE(offboard_mission);
  ORB_DECLARE(onboard_mission);
  
  #endif
  