Skip to main content

Waypoint Task

The header file related to waypoint task functionality is uav_waypoint.h. This document describes the key information and usage methods for the structures and function prototypes in the uav_waypoint.h file.

Table of Contents​

  • Macro Definitions, Enumerations, and Structures
    typedef enum E_UAVWaypointAction
    typedef enum E_UAVWaypointMissionState
    typedef enum E_UAVWaypointActionState
    typedef struct T_UAVWaypointMissionState
    typedef struct T_UAVWaypointActionState

  • Function Prototypes
    function UAV_Waypoint_Init
    function UAV_Waypoint_Deinit
    function UAV_Waypoint_UploadKmz
    function UAV_Waypoint_UploadKmzFile
    function UAV_Waypoint_Action
    function UAV_Waypoint_RegisterMissionStateCallback
    function UAV_Waypoint_RegisterActionStateCallback

Macro Definitions, Enumerations, and Structures​

typedef enum E_UAVWaypointAction​

Waypoint Task Behavior

typedef enum {
    UAV_WAYPOINT_ACTION_START = 0, /*!< waypoint mission start action */
    UAV_WAYPOINT_ACTION_STOP,      /*!< waypoint mission stop action */
    UAV_WAYPOINT_ACTION_PAUSE,     /*!< waypoint mission pause action */
    UAV_WAYPOINT_ACTION_RESUME,    /*!< waypoint mission resume action */
}E_UAVWaypointAction;

typedef enum E_UAVWaypointMissionState​

Current Drone Status of Waypoint Task.

typedef enum {
    UAV_WAYPOINT_MISSION_STATE_IDEL = 0, /*!< waypoint mission idel state */
    UAV_WAYPOINT_MISSION_STATE_PREPARE = 16, /*!< waypoint mission prepare state */
    UAV_WAYPOINT_MISSION_STATE_TRANS_MISSION = 32, /*!< waypoint mission transition state */
    UAV_WAYPOINT_MISSION_STATE_MISION = 48, /*!< waypoint mission state */
    UAV_WAYPOINT_MISSION_STATE_BREAK = 64, /*!< waypoint mission break state */
    UAV_WAYPOINT_MISSION_STATE_RESUME = 80, /*!< waypoint mission resume state */
    UAV_WAYPOINT_MISSION_RETURN_FIRSTPOINT = 98, /*!< waypoint mission return first point state */
}E_UAVWaypointMissionState;

typedef enum E_UAVWaypointActionState​

Waypoint Task Status.

typedef enum {
    UAV_WAYPOINT_ACTION_STATE_IDEL = 0, /*!< waypoint action idel state */
    UAV_WAYPOINT_ACTION_STATE_RUNNING = 1, /*!< waypoint action running state */
    UAV_WAYPOINT_ACTION_STATE_FINISHED = 5, /*!< waypoint action finished state */
}E_UAVWaypointActionState;

typedef struct T_UAVWaypointMissionState​

typedef struct {
    E_UAVWaypointMissionState state; /*!< waypoint mission state */
    uint32_t wayLineId; /*!< waypoint line id */
    uint16_t currentWaypointIndex; /*!< current waypoint index */
}T_UAVWaypointMissionState;

typedef struct T_UAVWaypointActionState​

typedef struct {
    E_UAVWaypointActionState state; /*!< waypoint action state */
    uint32_t wayLineId; /*!< waypoint line id */
    uint16_t currentWaypointIndex; /*!< current waypoint index */
    uint16_t actionGroupId; /*!< action group id */
    uint16_t actionId; /*!< action id */
}T_UAVWaypointActionState;

Function Prototypes​

function UAV_Waypoint_Init​

  • Function： Waypoint task initialization request.
extern int UAV_Waypoint_Init(void);

function UAV_Waypoint_Deinit​

  • Function： Waypoint task de-registration request.
extern void UAV_Waypoint_Deinit(void);

function UAV_Waypoint_UploadKmz​

  • Function：Upload KMZ file via raw data.
extern int UAV_Waypoint_UploadKmz(const uint8_t *data, uint32_t size);

function UAV_Waypoint_UploadKmzFile​

  • Function： Upload KMZ file via file.
extern int UAV_Waypoint_UploadKmzFile(const char *file);

function UAV_Waypoint_Action​

  • Function： Start executing the task.
extern int UAV_Waypoint_Action(const E_UAVWaypointAction action, const int32_t msec);

function UAV_Waypoint_RegisterMissionStateCallback​

  • Function： Register callback function for waypoint task state.
extern int UAV_Waypoint_RegisterMissionStateCallback(UAVWaypointMissionStateCallback_t callback);

function UAV_Waypoint_RegisterActionStateCallback​

  • Function： Register callback function for waypoint task action state.
extern int UAV_Waypoint_RegisterActionStateCallback(UAVWaypointActionStateCallback_t callback);