common_flight_plan.h File Reference

Common flight_plan functions shared between fixedwing and rotorcraft. More...

#include "std.h"

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Macros
#define	InitStage()   nav_init_stage();
#define	Block(x)   case x: set_nav_block(x);
#define	NextBlock()   nav_goto_next_block()
#define	GotoBlock(b)   nav_goto_block(b)
#define	Stage(s)   case s: set_nav_stage(s);
#define	NextStage()   { nav_goto_next_stage(); } INTENTIONAL_FALLTHRU
#define	NextStageAndBreak()   { nav_goto_next_stage(); break; }
#define	NextStageAndBreakFrom(wp)   { last_wp = wp; NextStageAndBreak(); }
#define	Label(x)   label_ ## x:
#define	Goto(x)   { goto label_ ## x; }
#define	Return(x)   nav_return(x)
#define	NavBlockTime()   (block_time)
	Time in s since the entrance in the current block. More...
#define	Ptr(x)   (&(x))
	macro to use pointers in flight plans XML More...

Functions
void	common_flight_plan_init (void)
void	nav_init_stage (void)
	needs to be implemented by fixedwing and rotorcraft seperately More...
void	nav_init_block (void)
void	nav_goto_block (uint8_t block_id)
void	nav_goto_next_block (void)
void	nav_goto_next_stage (void)
void	nav_return (uint8_t reset)
uint8_t	get_nav_block (void)
uint8_t	get_nav_stage (void)
uint8_t	get_last_block (void)
uint8_t	get_last_stage (void)
void	set_nav_block (uint8_t block_id)
void	set_nav_stage (uint8_t stage_id)
void	nav_on_enter_block (uint8_t block_id)
	Functions generated by the flight plan. More...
void	nav_on_exit_block (uint8_t block_id)

Variables
uint16_t	stage_time
	In s. More...
uint16_t	block_time
uint8_t	nav_stage
uint8_t	nav_block
uint8_t	last_block
	To save the current block/stage to enable return. More...
uint8_t	last_stage
uint8_t	last_wp

Detailed Description

Common flight_plan functions shared between fixedwing and rotorcraft.

Definition in file common_flight_plan.h.

Macro Definition Documentation

Block

#define Block

(

x

)

case x: set_nav_block(x);

Definition at line 70 of file common_flight_plan.h.

Goto

#define Goto

(

x

)

{ goto label_ ## x; }

Definition at line 80 of file common_flight_plan.h.

GotoBlock

#define GotoBlock

(

b

)

nav_goto_block(b)

Definition at line 72 of file common_flight_plan.h.

InitStage

#define InitStage

(

)

nav_init_stage();

Definition at line 68 of file common_flight_plan.h.

Label

#define Label

(

x

)

label_ ## x:

Definition at line 79 of file common_flight_plan.h.

NavBlockTime

#define NavBlockTime

(

)

(block_time)

Time in s since the entrance in the current block.

Definition at line 84 of file common_flight_plan.h.

NextBlock

#define NextBlock

(

)

nav_goto_next_block()

Definition at line 71 of file common_flight_plan.h.

NextStage

#define NextStage

(

)

{ nav_goto_next_stage(); } INTENTIONAL_FALLTHRU

Definition at line 75 of file common_flight_plan.h.

NextStageAndBreak

#define NextStageAndBreak

(

)

{ nav_goto_next_stage(); break; }

Definition at line 76 of file common_flight_plan.h.

NextStageAndBreakFrom

#define NextStageAndBreakFrom

(

wp

)

{ last_wp = wp; NextStageAndBreak(); }

Definition at line 77 of file common_flight_plan.h.

Ptr

#define Ptr

(

x

)

(&(x))

macro to use pointers in flight plans XML

Definition at line 87 of file common_flight_plan.h.

Return

#define Return

(

x

)

nav_return(x)

Definition at line 81 of file common_flight_plan.h.

Stage

#define Stage

(

s

)

case s: set_nav_stage(s);

Definition at line 74 of file common_flight_plan.h.

Function Documentation

common_flight_plan_init()

void common_flight_plan_init

(

void

)

Definition at line 43 of file common_flight_plan.c.

References block_time, last_block, last_stage, nav_block, nav_stage, private_last_block, private_last_stage, private_nav_block, private_nav_stage, and stage_time.

Referenced by nav_init().

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get_last_block()

uint8_t get_last_block

(

void

)

Definition at line 119 of file common_flight_plan.c.

References private_last_block.

get_last_stage()

uint8_t get_last_stage

(

void

)

Definition at line 122 of file common_flight_plan.c.

References private_last_stage.

get_nav_block()

uint8_t get_nav_block

(

void

)

Definition at line 113 of file common_flight_plan.c.

References private_nav_block.

Referenced by generic_com_periodic(), and mavlink_mission_periodic().

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get_nav_stage()

uint8_t get_nav_stage

(

void

)

Definition at line 116 of file common_flight_plan.c.

References private_nav_stage.

nav_goto_block()

void nav_goto_block

(

uint8_t

block_id

)

Definition at line 69 of file common_flight_plan.c.

References b, last_block, last_stage, nav_block, nav_init_block(), nav_on_exit_block(), private_last_block, private_last_stage, private_nav_block, and private_nav_stage.

Referenced by gsm_receive_content(), mavlink_block_message_handler(), nav_goto_next_block(), and nav_parse_BLOCK().

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nav_goto_next_block()

void nav_goto_next_block

(

void

)

Definition at line 84 of file common_flight_plan.c.

References nav_goto_block(), and private_nav_block.

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nav_goto_next_stage()

void nav_goto_next_stage

(

void

)

Definition at line 92 of file common_flight_plan.c.

References InitStage, nav_stage, and private_nav_stage.

nav_init_block()

void nav_init_block

(

void

)

Definition at line 56 of file common_flight_plan.c.

References block_time, InitStage, nav_block, nav_on_enter_block(), nav_stage, private_nav_block, and private_nav_stage.

Referenced by nav_goto_block().

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nav_init_stage()

void nav_init_stage

(

void

)

needs to be implemented by fixedwing and rotorcraft seperately

Definition at line 92 of file nav.c.

References last_x, last_y, nav, nav_circle_radians, nav_circle_radians_no_rewind, nav_in_circle, nav_in_segment, nav_shift, RotorcraftNavigation::nav_stage_init, stage_time, stateGetPositionEnu_f(), VECT3_COPY, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_nav_survey_polygon_run(), nav_bungee_takeoff_run(), nav_flower_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_skid_landing_run(), nav_survey_hybrid_run(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), and nav_vertical_raster_run().

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nav_on_enter_block()

void nav_on_enter_block

(

uint8_t

block_id

)

Functions generated by the flight plan.

Referenced by nav_init_block(), and nav_return().

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nav_on_exit_block()

void nav_on_exit_block

(

uint8_t

block_id

)

Referenced by nav_goto_block(), and nav_return().

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nav_return()

void nav_return

(

uint8_t

reset

)

Definition at line 98 of file common_flight_plan.c.

References block_time, InitStage, nav_block, nav_on_enter_block(), nav_on_exit_block(), nav_stage, private_last_block, private_last_stage, private_nav_block, private_nav_stage, and reset.

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set_nav_block()

void set_nav_block

(

uint8_t

block_id

)

Definition at line 126 of file common_flight_plan.c.

References b, nav_block, and private_nav_block.

set_nav_stage()

void set_nav_stage

(

uint8_t

stage_id

)

Definition at line 136 of file common_flight_plan.c.

References nav_stage, private_nav_stage, and s.

Variable Documentation

block_time

uint16_t block_time

Definition at line 33 of file common_flight_plan.h.

last_block

uint8_t last_block

extern

To save the current block/stage to enable return.

Definition at line 37 of file common_flight_plan.c.

Referenced by common_flight_plan_init(), and nav_goto_block().

last_stage

uint8_t last_stage

Definition at line 39 of file common_flight_plan.h.

last_wp

uint8_t last_wp

extern

nav_block

uint8_t nav_block

Definition at line 38 of file common_flight_plan.h.

nav_stage

uint8_t nav_stage

extern

Definition at line 34 of file common_flight_plan.c.

Referenced by common_flight_plan_init(), nav_goto_next_stage(), nav_init_block(), nav_return(), send_nav_status(), and set_nav_stage().

stage_time

uint16_t stage_time

extern

In s.

Definition at line 32 of file common_flight_plan.c.

Referenced by common_flight_plan_init(), common_nav_periodic_task(), nav_heli_spinup_run(), nav_init_stage(), nav_periodic_task(), and send_nav_status().