diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h
index 51eb270eecec4708fd905078e8c772ebec2d47d7..ff732414f6116b4557372f4c0ccaecb1ecc601a5 100644
--- a/src/modules/dataman/dataman.h
+++ b/src/modules/dataman/dataman.h
@@ -99,7 +99,7 @@ struct dataman_compat_s {
};
/* increment this define whenever a binary incompatible change is performed */
-#define DM_COMPAT_VERSION 1ULL
+#define DM_COMPAT_VERSION 2ULL
#define DM_COMPAT_KEY ((DM_COMPAT_VERSION << 32) + (sizeof(struct mission_item_s) << 24) + \
(sizeof(struct mission_s) << 16) + (sizeof(struct mission_stats_entry_s) << 12) + \
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 6f46a606d51e5f82f5e1d5114f1197808eb2f935..92c4a263f52039355630d60af760ebb39643d9f8 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -131,10 +131,20 @@ enum NAV_FRAME {
*
* Corresponds to one of the DM_KEY_WAYPOINTS_OFFBOARD_* dataman items
*/
-#pragma pack(push, 1)
+
+// Mission Item structure
+// We explicitly handle struct padding to ensure consistency between in memory and on disk formats across different platforms, toolchains, etc
+// The use of #pragma pack is avoided to prevent the possibility of unaligned memory accesses.
+
+#if (__GNUC__ >= 5) || __clang__
+// Disabled in GCC 4.X as the warning doesn't seem to "pop" correctly
+#pragma GCC diagnostic push
+#pragma GCC diagnostic error "-Wpadded"
+#endif // GCC >= 5 || Clang
+
struct mission_item_s {
- double lat; /**< latitude in degrees */
- double lon; /**< longitude in degrees */
+ double lat; /**< latitude in degrees */
+ double lon; /**< longitude in degrees */
union {
struct {
union {
@@ -142,32 +152,39 @@ struct mission_item_s {
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
float circle_radius; /**< geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) */
};
- float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
- float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise */
- float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
+ float acceptance_radius; /**< default radius in which the mission is accepted as reached in meters */
+ float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise */
+ float yaw; /**< in radians NED -PI..+PI, NAN means don't change yaw */
float ___lat_float; /**< padding */
float ___lon_float; /**< padding */
float altitude; /**< altitude in meters (AMSL) */
};
float params[7]; /**< array to store mission command values for MAV_FRAME_MISSION ***/
};
- uint16_t nav_cmd; /**< navigation command */
- int16_t do_jump_mission_index; /**< index where the do jump will go to */
- uint16_t do_jump_repeat_count; /**< how many times do jump needs to be done */
+
+ uint16_t nav_cmd; /**< navigation command */
+
+ int16_t do_jump_mission_index; /**< index where the do jump will go to */
+ uint16_t do_jump_repeat_count; /**< how many times do jump needs to be done */
+
union {
- uint16_t do_jump_current_count; /**< count how many times the jump has been done */
- uint16_t vertex_count; /**< Polygon vertex count (geofence) */
- uint16_t land_precision; /**< Defines if landing should be precise: 0 = normal landing, 1 = opportunistic precision landing, 2 = required precision landing (with search) */
+ uint16_t do_jump_current_count; /**< count how many times the jump has been done */
+ uint16_t vertex_count; /**< Polygon vertex count (geofence) */
+ uint16_t land_precision; /**< Defines if landing should be precise: 0 = normal landing, 1 = opportunistic precision landing, 2 = required precision landing (with search) */
};
+
struct {
- uint16_t frame : 4, /**< mission frame */
- origin : 3, /**< how the mission item was generated */
- loiter_exit_xtrack : 1, /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
- force_heading : 1, /**< heading needs to be reached */
+ uint16_t frame : 4, /**< mission frame */
+ origin : 3, /**< how the mission item was generated */
+ loiter_exit_xtrack : 1, /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
+ force_heading : 1, /**< heading needs to be reached */
altitude_is_relative : 1, /**< true if altitude is relative from start point */
- autocontinue : 1, /**< true if next waypoint should follow after this one */
- vtol_back_transition : 1; /**< part of the vtol back transition sequence */
+ autocontinue : 1, /**< true if next waypoint should follow after this one */
+ vtol_back_transition : 1, /**< part of the vtol back transition sequence */
+ _padding0 : 4; /**< padding remaining unused bits */
};
+
+ uint8_t _padding1[2]; /**< padding struct size to alignment boundary */
};
/**
@@ -187,12 +204,16 @@ struct mission_fence_point_s {
double lat;
double lon;
float alt;
- uint16_t nav_cmd; /**< navigation command (one of MAV_CMD_NAV_FENCE_*) */
+
union {
uint16_t vertex_count; /**< number of vertices in this polygon */
float circle_radius; /**< geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) */
};
+
+ uint16_t nav_cmd; /**< navigation command (one of MAV_CMD_NAV_FENCE_*) */
uint8_t frame; /**< MAV_FRAME */
+
+ uint8_t _padding0[5]; /**< padding struct size to alignment boundary */
};
/**
@@ -204,9 +225,14 @@ struct mission_save_point_s {
double lon;
float alt;
uint8_t frame; /**< MAV_FRAME */
+
+ uint8_t _padding0[3]; /**< padding struct size to alignment boundary */
};
-#pragma pack(pop)
+#if (__GNUC__ >= 5) || __clang__
+#pragma GCC diagnostic pop
+#endif // GCC >= 5 || Clang
+
#include <uORB/topics/mission.h>
/**