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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
dd7b07ab60
- register mission status message for telemetry, so it can be used on extra link with companion computer - add altitude proximity option to check alt on waypoints, not only 2D position - add documentation to XML file
48 lines
2.4 KiB
XML
48 lines
2.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="mission_common" dir="mission" task="control">
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<doc>
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<description>
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Common interface for mission control.
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This module parse datalink commands for basic navigation routines
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and store them in a queue.
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</description>
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<section name="MISSION" prefix="MISSION_">
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<define name="ELEMENT_NB" value="20" description="maximum number of elements in the mission queue"/>
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<define name="REGISTER_NB" value="6" description="maximum number of custom elemets to register"/>
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<define name="CHECK_UNIQUE_ID" value="TRUE|FALSE" description="check before inserting that all elements ID are unique in the queue (default: TRUE)"/>
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<define name="ALT_PROXIMITY" value="distance" unit="m" description="if defined, enforce a vertical proximity to validate the target points (default: undefined)"/>
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<define name="WAIT_TIMEOUT" value="time" unit="s" description="time in waiting pattern when queue is empty before ending the mission (default: fixedwing=120, rotorcraft=30)"/>
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</section>
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</doc>
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<header>
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<file name="mission_common.h"/>
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</header>
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<init fun="mission_init()"/>
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<periodic fun="mission_status_report()" freq="2" autorun="TRUE"/>
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<datalink message="MISSION_GOTO_WP" fun="mission_parse_GOTO_WP(buf)"/>
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<datalink message="MISSION_GOTO_WP_LLA" fun="mission_parse_GOTO_WP_LLA(buf)"/>
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<datalink message="MISSION_CIRCLE" fun="mission_parse_CIRCLE(buf)"/>
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<datalink message="MISSION_CIRCLE_LLA" fun="mission_parse_CIRCLE_LLA(buf)"/>
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<datalink message="MISSION_SEGMENT" fun="mission_parse_SEGMENT(buf)"/>
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<datalink message="MISSION_SEGMENT_LLA" fun="mission_parse_SEGMENT_LLA(buf)"/>
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<datalink message="MISSION_PATH" fun="mission_parse_PATH(buf)"/>
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<datalink message="MISSION_PATH_LLA" fun="mission_parse_PATH_LLA(buf)"/>
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<datalink message="MISSION_CUSTOM" fun="mission_parse_CUSTOM(buf)"/>
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<datalink message="MISSION_UPDATE" fun="mission_parse_UPDATE(buf)"/>
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<datalink message="GOTO_MISSION" fun="mission_parse_GOTO_MISSION(buf)"/>
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<datalink message="NEXT_MISSION" fun="mission_parse_NEXT_MISSION(buf)"/>
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<datalink message="END_MISSION" fun="mission_parse_END_MISSION(buf)"/>
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<makefile>
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<define name="USE_MISSION"/>
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<file name="mission_common.c"/>
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<test firmware="fixedwing">
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<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
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<define name="DOWNLINK_DEVICE" value="uart0"/>
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<define name="USE_UART0"/>
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</test>
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</makefile>
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</module>
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