Create CA.h

Author: t-sherm

CA.h

@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 MAVlink Development Team. All rights reserved.
+ *   Author: Trent Lukaczyk, <aerialhedgehog@gmail.com>
+ *           Jaycee Lock,    <jaycee.lock@gmail.com>
+ *           Lorenz Meier,   <lm@inf.ethz.ch>
+ *
+ * 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 mavlink_control.h
+ *
+ * @brief An example offboard control process via mavlink, definition
+ *
+ * This process connects an external MAVLink UART device to send an receive data
+ *
+ * @author Trent Lukaczyk, <aerialhedgehog@gmail.com>
+ * @author Jaycee Lock,    <jaycee.lock@gmail.com>
+ * @author Lorenz Meier,   <lm@inf.ethz.ch>
+ *
+ */
+
+
+// ------------------------------------------------------------------------------
+//   Includes
+// ------------------------------------------------------------------------------
+
+#include <iostream>
+#include <stdio.h>
+#include <cstdlib>
+#include <unistd.h>
+#include <cmath>
+#include <string.h>
+#include <inttypes.h>
+#include <fstream>
+#include <signal.h>
+#include <time.h>
+#include <sys/time.h>
+
+using std::string;
+using namespace std;
+
+#include "Mavlink/common/mavlink.h"
+
+#include "autopilot_interface.h"
+#include "serial_port.h"
+
+
+// ------------------------------------------------------------------------------
+//   Prototypes
+// ------------------------------------------------------------------------------
+
+int main(int argc, char **argv);
+int top(int argc, char **argv);
+
+void commands(Autopilot_Interface &autopilot_interface);
+void parse_commandline(int argc, char **argv, char *&uart_name, int &baudrate);
+
+// quit handler
+Autopilot_Interface *autopilot_interface_quit;
+Serial_Port *serial_port_quit;
+void quit_handler( int sig );
+
+struct aircraftinfo {
+
+	//Aircraft positions
+	// 0: current position, 1: last position (one second in the past), 2: very last position (two seconds in the past)
+	float lat [3];
+	float lon [3];
+	float alt [3];
+
+	//Aircraft velocity and accelerations
+	//0: current velocity/acceleration, 1: last velocity (one second in the past)
+	float VelocityX [2];
+	float VelocityY [2];
+	float xAcc;
+	float yAcc;
+
+	//Information for the predict function
+	//0: Predicted point
+	//1: Point that is .01 second in front of the predicted point
+	//2: Distance between predicted point 0 and 1
+	float futureDistx [3];
+	float futureDisty [3];
+	//Predicted heading
+	float Hdg;
+	
+	uint8_t priority; 
+
+};