Paparazzi UAS  v5.15_devel-47-g0391b4d
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_guided.h
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21 
29 #ifndef AUTOPILOT_GUIDED_H
30 #define AUTOPILOT_GUIDED_H
31 
32 #include "std.h"
33 
41 extern bool autopilot_guided_goto_ned(float x, float y, float z, float heading);
42 
50 extern bool autopilot_guided_goto_ned_relative(float dx, float dy, float dz, float dyaw);
51 
59 extern bool autopilot_guided_goto_body_relative(float dx, float dy, float dz, float dyaw);
60 
68 extern bool autopilot_guided_move_ned(float vx, float vy, float vz, float heading);
69 
89 extern void autopilot_guided_update(uint8_t flags, float x, float y, float z, float yaw);
90 
94 #define GUIDED_FLAG_XY_OFFSET (1<<0)
95 #define GUIDED_FLAG_XY_BODY (1<<1)
96 #define GUIDED_FLAG_Z_OFFSET (1<<2)
97 #define GUIDED_FLAG_YAW_OFFSET (1<<3)
98 #define GUIDED_FLAG_XY_VEL (1<<5)
99 #define GUIDED_FLAG_Z_VEL (1<<6)
100 #define GUIDED_FLAG_YAW_RATE (1<<7)
101 
102 #endif /* AUTOPILOT_GUIDED_H */
103 
bool autopilot_guided_goto_ned(float x, float y, float z, float heading)
Set position and heading setpoints in GUIDED mode.
void autopilot_guided_update(uint8_t flags, float x, float y, float z, float yaw)
Set guided setpoints using flag mask in GUIDED mode.
bool autopilot_guided_goto_ned_relative(float dx, float dy, float dz, float dyaw)
Set position and heading setpoints wrt.
bool autopilot_guided_move_ned(float vx, float vy, float vz, float heading)
Set velocity and heading setpoints in GUIDED mode.
static float heading
Definition: ahrs_infrared.c:45
unsigned char uint8_t
Definition: types.h:14
bool autopilot_guided_goto_body_relative(float dx, float dy, float dz, float dyaw)
Set position and heading setpoints wrt.