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,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @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>
  
  #if defined(MEMORY_CONSTRAINED_SYSTEM)
  #  define NUM_MISSIONS_SUPPORTED 50
  #else
  #  define NUM_MISSIONS_SUPPORTED 256
  #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_LAND = 21,
  	NAV_CMD_TAKEOFF = 22,
  	NAV_CMD_LOITER_TO_ALT = 31,
  	NAV_CMD_DO_FOLLOW_REPOSITION = 33,
  	NAV_CMD_ROI = 80,
  	NAV_CMD_VTOL_TAKEOFF = 84,
  	NAV_CMD_VTOL_LAND = 85,
  	NAV_CMD_DO_JUMP = 177,
  	NAV_CMD_DO_CHANGE_SPEED = 178,
  	NAV_CMD_DO_SET_SERVO=183,
  	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_DIST=206,
  	NAV_CMD_IMAGE_START_CAPTURE=2000,
  	NAV_CMD_IMAGE_STOP_CAPTURE=2001,
  	NAV_CMD_VIDEO_START_CAPTURE=2500,
  	NAV_CMD_VIDEO_STOP_CAPTURE=2501,
  	NAV_CMD_DO_VTOL_TRANSITION=3000,
  	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 {
  	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 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            */
  	uint16_t do_jump_current_count;		/**< count how many times the jump has been done	*/
  	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 */
  		disable_mc_yaw : 1;				/**< weathervane mode */
  	};
  };
  #pragma pack(pop)
  #include <uORB/topics/mission.h>
  
  /**
   * @}
   */
  
  
  #endif
  