autopilot_guided.h File Reference

Autopilot guided mode interface. More...

#include "std.h"

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Macros
#define	GUIDED_FLAG_XY_OFFSET   (1<<0)
	Bitmask for setting the flags attribute in autopilot_guided_update function See function description for more details. More...
#define	GUIDED_FLAG_XY_BODY   (1<<1)
#define	GUIDED_FLAG_Z_OFFSET   (1<<2)
#define	GUIDED_FLAG_YAW_OFFSET   (1<<3)
#define	GUIDED_FLAG_XY_VEL   (1<<5)
#define	GUIDED_FLAG_Z_VEL   (1<<6)
#define	GUIDED_FLAG_YAW_RATE   (1<<7)
#define	NavGuided(_flags, _x, _y, _z, _yaw)
	Macro for the flight plan insctructions. More...

Functions
bool	autopilot_guided_goto_ned (float x, float y, float z, float heading)
	Set position and heading setpoints in GUIDED mode. More...
bool	autopilot_guided_goto_ned_relative (float dx, float dy, float dz, float dyaw)
	Set position and heading setpoints wrt. More...
bool	autopilot_guided_goto_body_relative (float dx, float dy, float dz, float dyaw)
	Set position and heading setpoints wrt. More...
bool	autopilot_guided_move_ned (float vx, float vy, float vz, float heading)
	Set velocity and heading setpoints in GUIDED mode. More...
void	autopilot_guided_update (uint8_t flags, float x, float y, float z, float yaw)
	Set guided setpoints using flag mask in GUIDED mode. More...
void	autopilot_guided_parse_GUIDED (uint8_t *buf)
	Parse GUIDED_SETPOINT_NED messages from datalink. More...

Detailed Description

Autopilot guided mode interface.

Definition in file autopilot_guided.h.

Macro Definition Documentation

GUIDED_FLAG_XY_BODY

#define GUIDED_FLAG_XY_BODY   (1<<1)

Definition at line 99 of file autopilot_guided.h.

GUIDED_FLAG_XY_OFFSET

#define GUIDED_FLAG_XY_OFFSET   (1<<0)

Bitmask for setting the flags attribute in autopilot_guided_update function See function description for more details.

Definition at line 98 of file autopilot_guided.h.

GUIDED_FLAG_XY_VEL

#define GUIDED_FLAG_XY_VEL   (1<<5)

Definition at line 102 of file autopilot_guided.h.

GUIDED_FLAG_YAW_OFFSET

#define GUIDED_FLAG_YAW_OFFSET   (1<<3)

Definition at line 101 of file autopilot_guided.h.

GUIDED_FLAG_YAW_RATE

#define GUIDED_FLAG_YAW_RATE   (1<<7)

Definition at line 104 of file autopilot_guided.h.

GUIDED_FLAG_Z_OFFSET

#define GUIDED_FLAG_Z_OFFSET   (1<<2)

Definition at line 100 of file autopilot_guided.h.

GUIDED_FLAG_Z_VEL

#define GUIDED_FLAG_Z_VEL   (1<<6)

Definition at line 103 of file autopilot_guided.h.

NavGuided

#define NavGuided	(		_flags,
			_x,
			_y,
			_z,
			_yaw
	)

Value:

  {         \
  nav.horizontal_mode = NAV_HORIZONTAL_MODE_GUIDED;           \
  nav.vertical_mode = NAV_VERTICAL_MODE_GUIDED;               \
  autopilot_guided_update(_flags, _x, _y, _z, _yaw);  \
}

Macro for the flight plan insctructions.

Definition at line 108 of file autopilot_guided.h.

Function Documentation

autopilot_guided_goto_body_relative()

bool autopilot_guided_goto_body_relative	(	float	dx,
		float	dy,
		float	dz,
		float	dyaw
	)

Set position and heading setpoints wrt.

current position AND heading in GUIDED mode.

Parameters

dx	relative position (body frame, forward) in meters.
dy	relative position (body frame, right) in meters.
dz	relative position (body frame, down) in meters.
dyaw	Offset relative to current heading setpoint in radians.

Returns

TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 186 of file autopilot_guided.c.

Referenced by mavlink_common_message_handler().

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autopilot_guided_goto_ned()

bool autopilot_guided_goto_ned	(	float	x,
		float	y,
		float	z,
		float	heading
	)

Set position and heading setpoints in GUIDED mode.

Parameters

x	North position (local NED frame) in meters.
y	East position (local NED frame) in meters.
z	Down position (local NED frame) in meters.
heading	Setpoint in radians.

Returns

TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 168 of file autopilot_guided.c.

References heading, FloatVect2::x, and FloatVect2::y.

Referenced by mavlink_common_message_handler().

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autopilot_guided_goto_ned_relative()

bool autopilot_guided_goto_ned_relative	(	float	dx,
		float	dy,
		float	dz,
		float	dyaw
	)

Set position and heading setpoints wrt.

current position in GUIDED mode.

Parameters

dx	Offset relative to current north position (local NED frame) in meters.
dy	Offset relative to current east position (local NED frame) in meters.
dz	Offset relative to current down position (local NED frame) in meters.
dyaw	Offset relative to current heading setpoint in radians.

Returns

TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 177 of file autopilot_guided.c.

Referenced by mavlink_common_message_handler().

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autopilot_guided_move_ned()

bool autopilot_guided_move_ned	(	float	vx,
		float	vy,
		float	vz,
		float	heading
	)

Set velocity and heading setpoints in GUIDED mode.

Parameters

vx	North velocity (local NED frame) in meters/sec.
vy	East velocity (local NED frame) in meters/sec.
vz	Down velocity (local NED frame) in meters/sec.
heading	Setpoint in radians.

Returns

TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 195 of file autopilot_guided.c.

References heading.

Referenced by mavlink_common_message_handler().

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autopilot_guided_parse_GUIDED()

void autopilot_guided_parse_GUIDED

(

uint8_t *

buf

)

Parse GUIDED_SETPOINT_NED messages from datalink.

Definition at line 215 of file autopilot_guided.c.

autopilot_guided_update()

void autopilot_guided_update	(	uint8_t	flags,
		float	x,
		float	y,
		float	z,
		float	yaw
	)

Set guided setpoints using flag mask in GUIDED mode.

Parameters

flags	Bits 0-3 are used to determine the axis system to be used. If bits 0 and 1 are clear then the coordinates are set in absolute NE coordinates. If bit 1 is set bit 0 is ignored. Bits 5-7 define whether the setpoints should be used as position or velocity. Bit flags are defined as follows: bit 0: x,y as offset coordinates bit 1: x,y in body coordinates bit 2: z as offset coordinates bit 3: yaw as offset coordinates bit 4: free bit 5: x,y as vel bit 6: z as vel bit 7: yaw as rate
x	North position/velocity in meters or meters/sec.
y	East position/velocity in meters or meters/sec.
z	Down position/velocity in meters or meters/sec.
yaw	Heading or heading rate setpoint in radians or radians/sec.

Definition at line 204 of file autopilot_guided.c.

References FloatVect2::x, and FloatVect2::y.

Referenced by nav_fish_velocity_run().

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