avoid_navigation.c File Reference

#include "avoid_navigation.h"
#include "state.h"
#include "navigation.h"
#include "generated/flight_plan.h"
#include "modules/stereocam/stereocam.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "led.h"

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Macros
#define	DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Functions
void	init_avoid_navigation ()
void	run_avoid_navigation_onvision (void)
void	increase_nav_heading (float *heading, float increment)

Variables
struct AvoidNavigationStruct	avoid_navigation_data
	global VIDEO state
bool	obstacle_detected = false
int32_t	counter = 0

Macro Definition Documentation

DOWNLINK_DEVICE

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Definition at line 45 of file avoid_navigation.c.

Function Documentation

increase_nav_heading()

void increase_nav_heading	(	float *	heading,
		float	increment
	)

Definition at line 117 of file avoid_navigation.c.

References foo, and heading.

init_avoid_navigation()

void init_avoid_navigation

(

void

)

Definition at line 58 of file avoid_navigation.c.

References avoid_navigation_data, and AvoidNavigationStruct::mode.

Referenced by stereo_avoid_init().

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run_avoid_navigation_onvision()

void run_avoid_navigation_onvision

(

void

)

Definition at line 65 of file avoid_navigation.c.

References avoid_navigation_data, counter, DefaultChannel, DefaultDevice, foo, RotorcraftNavigation::heading, AvoidNavigationStruct::mode, nav, NAV_LINE_AVOID_SEGMENT_LENGTH, obstacle_detected, POS_BFP_OF_REAL, stateGetPositionEnu_i(), AvoidNavigationStruct::stereo_bin, waypoint_set_xy_i(), EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by stereo_avoid_run().

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Variable Documentation

avoid_navigation_data

struct AvoidNavigationStruct avoid_navigation_data

global VIDEO state

Definition at line 53 of file avoid_navigation.c.

Referenced by init_avoid_navigation(), and run_avoid_navigation_onvision().

counter

int32_t counter = 0

Definition at line 55 of file avoid_navigation.c.

Referenced by run_avoid_navigation_onvision().

obstacle_detected

bool obstacle_detected = false

Definition at line 54 of file avoid_navigation.c.

Referenced by run_avoid_navigation_onvision(), and stereocam_droplet_periodic().