text: /****************************************************************************
   *
   *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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   * Redistribution and use in source and binary forms, with or without
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   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
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   *    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
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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>
   */
  
  #pragma once
  
  #include <stdint.h>
  #include <stdbool.h>
  
  #if defined(MEMORY_CONSTRAINED_SYSTEM)
  #  define NUM_MISSIONS_SUPPORTED 50
  #elif defined(__PX4_POSIX)
  #  define NUM_MISSIONS_SUPPORTED (UINT16_MAX-1) // This is allocated as needed.
  #else
  #  define NUM_MISSIONS_SUPPORTED 2000 // This allocates a file of around 181 kB on the SD card.
  #endif
  
  #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_TIME_LIMIT = 19,
  	NAV_CMD_RETURN_TO_LAUNCH = 20,
  	NAV_CMD_LAND = 21,
  	NAV_CMD_TAKEOFF = 22,
  	NAV_CMD_LOITER_TO_ALT = 31,
  	NAV_CMD_DO_FOLLOW_REPOSITION = 33,
  	NAV_CMD_VTOL_TAKEOFF = 84,
  	NAV_CMD_VTOL_LAND = 85,
  	NAV_CMD_DELAY = 93,
  	NAV_CMD_DO_JUMP = 177,
  	NAV_CMD_DO_CHANGE_SPEED = 178,
  	NAV_CMD_DO_SET_HOME = 179,
  	NAV_CMD_DO_SET_SERVO = 183,
  	NAV_CMD_DO_LAND_START = 189,
  	NAV_CMD_DO_SET_ROI_LOCATION = 195,
  	NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196,
  	NAV_CMD_DO_SET_ROI_NONE = 197,
  	NAV_CMD_DO_SET_ROI = 201,
  	NAV_CMD_DO_DIGICAM_CONTROL = 203,
  	NAV_CMD_DO_MOUNT_CONFIGURE = 204,
  	NAV_CMD_DO_MOUNT_CONTROL = 205,
  	NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
  	NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
  	NAV_CMD_SET_CAMERA_MODE = 530,
  	NAV_CMD_IMAGE_START_CAPTURE = 2000,
  	NAV_CMD_IMAGE_STOP_CAPTURE = 2001,
  	NAV_CMD_DO_TRIGGER_CONTROL = 2003,
  	NAV_CMD_VIDEO_START_CAPTURE = 2500,
  	NAV_CMD_VIDEO_STOP_CAPTURE = 2501,
  	NAV_CMD_DO_VTOL_TRANSITION = 3000,
  	NAV_CMD_FENCE_RETURN_POINT = 5000,
  	NAV_CMD_FENCE_POLYGON_VERTEX_INCLUSION = 5001,
  	NAV_CMD_FENCE_POLYGON_VERTEX_EXCLUSION = 5002,
  	NAV_CMD_FENCE_CIRCLE_INCLUSION = 5003,
  	NAV_CMD_FENCE_CIRCLE_EXCLUSION = 5004,
  	NAV_CMD_INVALID = UINT16_MAX /* ensure that casting a large number results in a specific error */
  };
  
  enum ORIGIN {
  	ORIGIN_MAVLINK = 0,
  	ORIGIN_ONBOARD
  };
  
  /* compatible to mavlink MAV_FRAME */
  enum NAV_FRAME {
  	NAV_FRAME_GLOBAL = 0,
  	NAV_FRAME_LOCAL_NED = 1,
  	NAV_FRAME_MISSION = 2,
  	NAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
  	NAV_FRAME_LOCAL_ENU = 4,
  	NAV_FRAME_GLOBAL_INT = 5,
  	NAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6,
  	NAV_FRAME_LOCAL_OFFSET_NED = 7,
  	NAV_FRAME_BODY_NED = 8,
  	NAV_FRAME_BODY_OFFSET_NED = 9,
  	NAV_FRAME_GLOBAL_TERRAIN_ALT = 10,
  	NAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  };
  
  /**
   * @addtogroup topics
   * @{
   */
  
  /**
   * Global position setpoint in WGS84 coordinates.
   *
   * This is the position the MAV is heading towards. If it is of type loiter,
   * the MAV is circling around it with the given loiter radius in meters.
   *
   * Corresponds to one of the DM_KEY_WAYPOINTS_OFFBOARD_* dataman items
   */
  #pragma pack(push, 1)
  struct mission_item_s {
  	double lat;			/**< latitude in degrees				*/
  	double lon;			/**< longitude in degrees				*/
  	union {
  		struct {
  			union {
  				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 */
  				float circle_radius;		/**< geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) */
  			};
  			float acceptance_radius;	/**< default radius in which the mission is accepted as reached in meters */
  			float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise */
  			float yaw;					/**< in radians NED -PI..+PI, NAN means don't change yaw		*/
  			float ___lat_float;			/**< padding */
  			float ___lon_float;			/**< padding */
  			float altitude;				/**< altitude in meters	(AMSL)			*/
  		};
  		float params[7];				/**< array to store mission command values for MAV_FRAME_MISSION ***/
  	};
  	uint16_t nav_cmd;					/**< navigation command					*/
  	int16_t do_jump_mission_index;		/**< index where the do jump will go to                 */
  	uint16_t do_jump_repeat_count;		/**< how many times do jump needs to be done            */
  	union {
  		uint16_t do_jump_current_count;		/**< count how many times the jump has been done	*/
  		uint16_t vertex_count;			/**< Polygon vertex count (geofence)	*/
  		uint16_t land_precision;		/**< Defines if landing should be precise: 0 = normal landing, 1 = opportunistic precision landing, 2 = required precision landing (with search)	*/
  	};
  	struct {
  		uint16_t frame : 4,					/**< mission frame */
  			 origin : 3,						/**< how the mission item was generated */
  			 loiter_exit_xtrack : 1,			/**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
  			 force_heading : 1,				/**< heading needs to be reached */
  			 altitude_is_relative : 1,		/**< true if altitude is relative from start point	*/
  			 autocontinue : 1,				/**< true if next waypoint should follow after this one */
  			 vtol_back_transition : 1;		/**< part of the vtol back transition sequence */
  	};
  };
  
  /**
   * dataman housekeeping information for a specific item.
   * Corresponds to the first dataman entry of DM_KEY_FENCE_POINTS and DM_KEY_SAFE_POINTS
   */
  struct mission_stats_entry_s {
  	uint16_t num_items;			/**< total number of items stored (excluding this one) */
  	uint16_t update_counter;			/**< This counter is increased when (some) items change (this can wrap) */
  };
  
  /**
   * Geofence vertex point.
   * Corresponds to the DM_KEY_FENCE_POINTS dataman item
   */
  struct mission_fence_point_s {
  	double lat;
  	double lon;
  	float alt;
  	uint16_t nav_cmd;				/**< navigation command (one of MAV_CMD_NAV_FENCE_*) */
  	union {
  		uint16_t vertex_count;			/**< number of vertices in this polygon */
  		float circle_radius;			/**< geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) */
  	};
  	uint8_t frame;					/**< MAV_FRAME */
  };
  
  /**
   * Safe Point (Rally Point).
   * Corresponds to the DM_KEY_SAFE_POINTS dataman item
   */
  struct mission_safe_point_s {
  	double lat;
  	double lon;
  	float alt;
  	uint8_t frame;					/**< MAV_FRAME */
  };
  
  #pragma pack(pop)
  #include <uORB/topics/mission.h>
  
  /**
   * @}
   */
  
  
  