autopilot_guided.h

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/*
 * Copyright (C) 2016 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef AUTOPILOT_GUIDED_H
#define AUTOPILOT_GUIDED_H
 
#include "std.h"
 
extern bool autopilot_guided_goto_ned(float x, float y, float z, float heading);
 
extern bool autopilot_guided_goto_ned_relative(float dx, float dy, float dz, float dyaw);
 
extern bool autopilot_guided_goto_body_relative(float dx, float dy, float dz, float dyaw);
 
extern bool autopilot_guided_move_ned(float vx, float vy, float vz, float heading);
 
extern void autopilot_guided_update(uint8_t flags, float x, float y, float z, float yaw);
 
extern void autopilot_guided_parse_GUIDED(uint8_t *buf);
 
#define GUIDED_FLAG_XY_OFFSET   (1<<0)
#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) {         \
  nav.horizontal_mode = NAV_HORIZONTAL_MODE_GUIDED;           \
  nav.vertical_mode = NAV_VERTICAL_MODE_GUIDED;               \
  autopilot_guided_update(_flags, _x, _y, _z, _yaw);  \
}
 
#endif /* AUTOPILOT_GUIDED_H */