#include "std.h"
#include "state.h"
#include "modules/nav/common_flight_plan.h"

Include dependency graph for common_nav.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	point

Macros
#define	WaypointX(_wp) (waypoints[_wp].x)

#define	WaypointY(_wp) (waypoints[_wp].y)

#define	WaypointAlt(_wp) (waypoints[_wp].a)
	waypoint altitude in m above MSL

#define	Height(_h) (_h + ground_alt)

#define	NavSetGroundReferenceHere() ({ nav_reset_reference(); nav_update_waypoints_alt(); false; })

#define	NavSetAltitudeReferenceHere() ({ nav_reset_alt(); nav_update_waypoints_alt(); false; })

#define	NavSetWaypointHere(_wp)

#define	NavSetWaypointHereSend(_wp)

#define	NavSetWaypointPosAndAltHere(_wp)

#define	NavSetWaypointDistBehind(_wp, _ref, dist)

Functions
void	nav_move_waypoint (uint8_t wp_id, float utm_east, float utm_north, float alt)
	Move a waypoint to given UTM coordinates.

void	nav_move_waypoint_enu (uint8_t wp_id, float x, float y, float alt)
	Move a waypoint in local frame.

void	nav_move_waypoint_point (uint8_t wp_id, struct point *p)
	Move a waypoint from point structure (local frame).

void	nav_send_waypoint (uint8_t wp_id)
	Send a waypoint throught default telemetry channel.

void	compute_dist2_to_home (void)
	Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

void	nav_reset_utm_zone (void)
	Reset the UTM zone to current GPS fix.

void	nav_reset_reference (void)
	Reset the geographic reference to the current GPS fix.

void	nav_reset_alt (void)
	Reset the altitude reference to the current GPS alt.

void	nav_update_waypoints_alt (void)
	Shift altitude of the waypoint according to a new ground altitude.

void	common_nav_periodic_task (void)

float	get_time_to_home (void)
	Compute time to home use wind and airspeed when available.

Variables
float	max_dist_from_home

float	dist2_to_home

float	dist2_to_wp

bool	too_far_from_home

const uint8_t	nb_waypoint

struct point	waypoints []

float	ground_alt
	size == nb_waypoint, waypoint 0 is a dummy waypoint

int32_t	nav_utm_east0

int32_t	nav_utm_north0

uint8_t	nav_utm_zone0

Data Structure Documentation

◆ point

struct point

Definition at line 39 of file common_nav.h.

Data Fields
float	a
float	x
float	y

Macro Definition Documentation

◆ Height

#define Height ( _h ) (_h + ground_alt)

Definition at line 49 of file common_nav.h.

◆ NavSetAltitudeReferenceHere

#define NavSetAltitudeReferenceHere ( ) ({ nav_reset_alt(); nav_update_waypoints_alt(); false; })

Definition at line 79 of file common_nav.h.

◆ NavSetGroundReferenceHere

#define NavSetGroundReferenceHere ( ) ({ nav_reset_reference(); nav_update_waypoints_alt(); false; })

Definition at line 77 of file common_nav.h.

◆ NavSetWaypointDistBehind

#define NavSetWaypointDistBehind	(	_wp,
		_ref,
		dist
	)

Value:

  ({ \
  waypoints[_wp].x = waypoints[_ref].x - dist*sin(stateGetNedToBodyEulers_f()->psi); \
  waypoints[_wp].y = waypoints[_ref].y - dist*cos(stateGetNedToBodyEulers_f()->psi); \
  false; \
})

Definition at line 101 of file common_nav.h.

◆ NavSetWaypointHere

#define NavSetWaypointHere ( _wp )

Value:

    ({ \
    waypoints[_wp].x = stateGetPositionEnu_f()->x; \
    waypoints[_wp].y = stateGetPositionEnu_f()->y; \
    false; \
  })

Definition at line 81 of file common_nav.h.

◆ NavSetWaypointHereSend

#define NavSetWaypointHereSend ( _wp )

Value:

    ({ \
    waypoints[_wp].x = stateGetPositionEnu_f()->x; \
    waypoints[_wp].y = stateGetPositionEnu_f()->y; \
    RunOnceEvery(NAVIGATION_FREQUENCY/1, {nav_send_waypoint(_wp);}) \
    false; \
  })

Definition at line 87 of file common_nav.h.

◆ NavSetWaypointPosAndAltHere

#define NavSetWaypointPosAndAltHere ( _wp )

Value:

    ({ \
    waypoints[_wp].x = stateGetPositionEnu_f()->x; \
    waypoints[_wp].y = stateGetPositionEnu_f()->y; \
    waypoints[_wp].a = stateGetPositionEnu_f()->z + ground_alt; \
    false; \
  })