goto.c File Reference

#include <sol-log.h>
#include <sol-mainloop.h>
#include <sol-mavlink.h>
#include <sol-util.h>
#include <stdio.h>

Macros
#define	DEST_ALT   20
#define	DEST_LAT   -35.361354
#define	DEST_LONG   149.166218
#define	GT_MARGIN(_lval, _rval)   (_lval > (_rval * 0.95)) \
#define	TAKEOFF_ALT   10

Functions
static void	armed_cb (void *data, struct sol_mavlink *mavlink)
static void	disarmed_cb (void *data, struct sol_mavlink *mavlink)
int	main (int argc, char *argv[])
static void	mavlink_connect_cb (void *data, struct sol_mavlink *mavlink)
static void	mission_reached_cb (void *data, struct sol_mavlink *mavlink)
static void	mode_changed_cb (void *data, struct sol_mavlink *mavlink)
static void	position_changed_cb (void *data, struct sol_mavlink *mavlink)
static void	takeoff (struct sol_mavlink *mavlink)

Macro Definition Documentation

#define DEST_ALT   20

Examples:

/src/samples/mavlink/goto.c.

Referenced by mission_reached_cb().

#define DEST_LAT   -35.361354

Examples:

/src/samples/mavlink/goto.c.

Referenced by mission_reached_cb().

#define DEST_LONG   149.166218

Examples:

/src/samples/mavlink/goto.c.

Referenced by mission_reached_cb().

#define GT_MARGIN	(		_lval,
			_rval
	)		(_lval > (_rval * 0.95)) \

Examples:

/src/samples/mavlink/goto.c.

Referenced by mission_reached_cb().

#define TAKEOFF_ALT   10

Referenced by mission_reached_cb(), and takeoff().

Function Documentation

static void armed_cb ( void *  data, struct sol_mavlink *  mavlink  )

static

References SOL_DBG, sol_mavlink_get_mode(), SOL_MAVLINK_MODE_GUIDED, and takeoff().

Referenced by main().

static void disarmed_cb ( void *  data, struct sol_mavlink *  mavlink  )

static

References sol_mavlink_get_mode(), and SOL_MAVLINK_MODE_LAND.

Referenced by main().

int main	(	int	argc,
		char *	argv[]
	)

References sol_mavlink_handlers::api_version, sol_mavlink_config::api_version, armed_cb(), disarmed_cb(), mavlink_connect_cb(), mission_reached_cb(), mode_changed_cb(), position_changed_cb(), SOL_ERR, sol_init(), SOL_MAVLINK_CONFIG_API_VERSION, sol_mavlink_connect(), sol_mavlink_disconnect(), SOL_MAVLINK_HANDLERS_API_VERSION, sol_run(), SOL_SET_API_VERSION, and sol_shutdown().

static void mavlink_connect_cb ( void *  data, struct sol_mavlink *  mavlink  )

static

References SOL_ERR, SOL_INF, sol_mavlink_get_mode(), sol_mavlink_is_armed(), SOL_MAVLINK_MODE_GUIDED, sol_mavlink_set_armed(), sol_mavlink_set_mode(), sol_util_strerrora, and takeoff().

Referenced by main().

static void mission_reached_cb ( void *  data, struct sol_mavlink *  mavlink  )

static

References sol_mavlink_position::altitude, DEST_ALT, DEST_LAT, DEST_LONG, GT_MARGIN, sol_mavlink_position::latitude, sol_mavlink_position::longitude, SOL_ERR, sol_mavlink_get_current_position(), sol_mavlink_get_home_position(), sol_mavlink_get_mode(), sol_mavlink_go_to(), sol_mavlink_land(), SOL_MAVLINK_MODE_GUIDED, sol_util_strerrora, and TAKEOFF_ALT.

Referenced by main().

static void mode_changed_cb ( void *  data, struct sol_mavlink *  mavlink  )

static

References SOL_ERR, sol_mavlink_get_mode(), sol_mavlink_is_armed(), SOL_MAVLINK_MODE_GUIDED, sol_mavlink_set_armed(), and sol_util_strerrora.

Referenced by main().

static void position_changed_cb ( void *  data, struct sol_mavlink *  mavlink  )

static

References sol_mavlink_position::altitude, sol_mavlink_position::latitude, sol_mavlink_position::longitude, SOL_ERR, sol_mavlink_get_current_position(), sol_mavlink_is_armed(), and sol_util_strerrora.

Referenced by main().

static void takeoff ( struct sol_mavlink *  mavlink )

static

References sol_mavlink_position::altitude, SOL_ERR, sol_mavlink_take_off(), sol_util_strerrora, and TAKEOFF_ALT.

Referenced by armed_cb(), and mavlink_connect_cb().