Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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common_nav.c
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1 /*
2  * Copyright (C) 2007-2009 ENAC, Pascal Brisset, Antoine Drouin
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
28 #include "generated/flight_plan.h"
29 #include "subsystems/ins.h"
31 
34 
36 
37 const uint8_t nb_waypoint = NB_WAYPOINT;
38 struct point waypoints[NB_WAYPOINT] = WAYPOINTS_UTM;
39 
40 float ground_alt;
41 
42 int32_t nav_utm_east0 = NAV_UTM_EAST0;
43 int32_t nav_utm_north0 = NAV_UTM_NORTH0;
44 uint8_t nav_utm_zone0 = NAV_UTM_ZONE0;
45 float max_dist_from_home = MAX_DIST_FROM_HOME;
46 
51 {
52  struct EnuCoor_f *pos = stateGetPositionEnu_f();
53  float ph_x = waypoints[WP_HOME].x - pos->x;
54  float ph_y = waypoints[WP_HOME].y - pos->y;
55  dist2_to_home = ph_x * ph_x + ph_y * ph_y;
56  too_far_from_home = dist2_to_home > (MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME);
57 #ifdef InGeofenceSector
58  too_far_from_home = too_far_from_home || !(InGeofenceSector(pos->x, pos->y));
59 #endif
60 }
61 
62 
63 static float previous_ground_alt;
64 
67 {
68 
69  struct UtmCoor_f utm0;
70  utm0.zone = nav_utm_zone0;
71  utm0.north = nav_utm_north0;
72  utm0.east = nav_utm_east0;
73  utm0.alt = ground_alt;
74  ins_reset_utm_zone(&utm0);
75 
76  /* Set the real UTM ref */
77  nav_utm_zone0 = utm0.zone;
78  nav_utm_east0 = utm0.east;
79  nav_utm_north0 = utm0.north;
80 }
81 
84 {
85  /* realign INS */
87 
88  /* Set nav UTM ref */
92 
93  /* Ground alt */
96 }
97 
99 void nav_reset_alt(void)
100 {
102 
103  /* Ground alt */
106 }
107 
110 {
111  uint8_t i;
112  for (i = 0; i < NB_WAYPOINT; i++) {
113  waypoints[i].a += ground_alt - previous_ground_alt;
114  }
115 }
116 
118 {
119  RunOnceEvery(4, { stage_time++; block_time++; });
120 }
121 
128 void nav_move_waypoint(uint8_t wp_id, float ux, float uy, float alt)
129 {
130  if (wp_id < nb_waypoint) {
131  float dx, dy;
132  dx = ux - nav_utm_east0 - waypoints[WP_HOME].x;
133  dy = uy - nav_utm_north0 - waypoints[WP_HOME].y;
134  BoundAbs(dx, max_dist_from_home);
135  BoundAbs(dy, max_dist_from_home);
136  waypoints[wp_id].x = waypoints[WP_HOME].x + dx;
137  waypoints[wp_id].y = waypoints[WP_HOME].y + dy;
138  waypoints[wp_id].a = alt;
139  }
140 }
uint16_t block_time
float x
Definition: common_nav.h:40
float east
in meters
void WEAK ins_reset_utm_zone(struct UtmCoor_f *utm)
INS utm zone reset.
Definition: ins.c:68
float north
in meters
float alt
in meters (above WGS84 reference ellipsoid or above MSL)
float ground_alt
size == nb_waypoint, waypoint 0 is a dummy waypoint
Definition: common_nav.c:40
void ins_reset_local_origin(void)
local implemetation of the ins_reset functions
void compute_dist2_to_home(void)
Computes squared distance to the HOME waypoint.
Definition: common_nav.c:50
vector in East North Up coordinates Units: meters
void nav_update_waypoints_alt(void)
Shift altitude of the waypoint according to a new ground altitude.
Definition: common_nav.c:109
uint8_t nav_utm_zone0
Definition: common_nav.c:44
Integrated Navigation System interface.
void nav_reset_reference(void)
Reset the geographic reference to the current GPS fix.
Definition: common_nav.c:83
static float previous_ground_alt
Definition: common_nav.c:63
void nav_reset_alt(void)
Reset the altitude reference to the current GPS alt.
Definition: common_nav.c:99
void nav_move_waypoint(uint8_t wp_id, float ux, float uy, float alt)
Move a waypoint to given UTM coordinates.
Definition: common_nav.c:128
position in UTM coordinates Units: meters
float dist2_to_home
squared distance to home waypoint
Definition: common_nav.c:32
static struct EnuCoor_f * stateGetPositionEnu_f(void)
Get position in local ENU coordinates (float).
Definition: state.h:719
Paparazzi floating point math for geodetic calculations.
float y
Definition: common_nav.h:41
void common_nav_periodic_task_4Hz()
Definition: common_nav.c:117
int32_t nav_utm_north0
Definition: common_nav.c:43
float x
in meters
void nav_reset_utm_zone(void)
Reset the UTM zone to current GPS fix.
Definition: common_nav.c:66
float max_dist_from_home
Definition: common_nav.c:45
uint8_t zone
UTM zone number.
struct UtmCoor_f utm_origin_f
Definition of the origin of Utm coordinate system.
Definition: state.h:233
uint16_t stage_time
In s.
const uint8_t nb_waypoint
Definition: common_nav.c:37
signed long int32_t
Definition: types.h:19
unsigned char uint8_t
Definition: types.h:14
int32_t nav_utm_east0
Definition: common_nav.c:42
struct point waypoints[NB_WAYPOINT]
size == nb_waypoint, waypoint 0 is a dummy waypoint
Definition: common_nav.c:38
float dist2_to_wp
squared distance to next waypoint
Definition: common_nav.c:33
float a
Definition: common_nav.h:42
void ins_reset_altitude_ref(void)
INS altitude reference reset.
float y
in meters
struct State state
Definition: state.c:36
bool too_far_from_home
Definition: common_nav.c:35