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航点任务

航点任务相关功能的头文件为 uav_waypoint.h，本文档描述了 uav_waypoint.h 文件中结构体和函数原型的关键信息和使用方法。

目录​

  • 宏定义、枚举与结构体
    typedef enum E_UAVWaypointAction
    typedef enum E_UAVWaypointMissionState
    typedef enum E_UAVWaypointActionState
    typedef struct T_UAVWaypointMissionState
    typedef struct T_UAVWaypointActionState

  • 函数原型
    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

目宏定义、枚举与结构体​

typedef enum E_UAVWaypointAction​

航点任务任务行为。

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​

航点任务当前无人机状态。

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​

航点任务任务状态。

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;

函数原型​

function UAV_Waypoint_Init​

  • 功能： 航点任务初始化请求。
extern int UAV_Waypoint_Init(void);

function UAV_Waypoint_Deinit​

  • 功能： 航点任务注销请求。
extern void UAV_Waypoint_Deinit(void);

function UAV_Waypoint_UploadKmz​

  • 功能： 通过原始数据上传 kmz 文件。
extern int UAV_Waypoint_UploadKmz(const uint8_t *data, uint32_t size);

function UAV_Waypoint_UploadKmzFile​

  • 功能： 通过文件上传 kmz 文件。
extern int UAV_Waypoint_UploadKmzFile(const char *file);

function UAV_Waypoint_Action​

  • 功能： 开始执行任务。
extern int UAV_Waypoint_Action(const E_UAVWaypointAction action, const int32_t msec);

function UAV_Waypoint_RegisterMissionStateCallback​

  • 功能： 航点任务任务的注册回调函数。
extern int UAV_Waypoint_RegisterMissionStateCallback(UAVWaypointMissionStateCallback_t callback);

function UAV_Waypoint_RegisterActionStateCallback​

  • 功能： 航点任务动作的注册回调函数。
extern int UAV_Waypoint_RegisterActionStateCallback(UAVWaypointActionStateCallback_t callback);