nav_line.c File Reference

#include "nav_line.h"
#include "generated/airframe.h"
#include "modules/guidance/gvf/gvf.h"

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Macros
#define	GVF_LINE_KE   1
#define	GVF_LINE_KN   1
#define	GVF_LINE_HEADING   0
#define	GVF_SEGMENT_D1   0
#define	GVF_SEGMENT_D2   0

Functions
static void	gvf_line (float a, float b, float heading)
static int	out_of_segment_area (float x1, float y1, float x2, float y2, float d1, float d2)
bool	nav_gvf_line_XY_heading (float a, float b, float heading)
bool	nav_gvf_line_wp_heading (uint8_t wp, float heading)
bool	nav_gvf_line_XY1_XY2 (float x1, float y1, float x2, float y2)
bool	nav_gvf_line_wp1_wp2 (uint8_t wp1, uint8_t wp2)
bool	nav_gvf_segment_loop_XY1_XY2 (float x1, float y1, float x2, float y2, float d1, float d2)
bool	nav_gvf_segment_loop_wp1_wp2 (uint8_t wp1, uint8_t wp2, float d1, float d2)
bool	nav_gvf_segment_XY1_XY2 (float x1, float y1, float x2, float y2)
bool	nav_gvf_segment_wp1_wp2 (uint8_t wp1, uint8_t wp2)
bool	nav_gvf_segment_points (struct FloatVect2 start, struct FloatVect2 end)

Variables
gvf_li_par	gvf_line_par = {GVF_LINE_KE, GVF_LINE_KN, GVF_LINE_HEADING}
gvf_seg_par	gvf_segment_par = {GVF_SEGMENT_D1, GVF_SEGMENT_D2}
static int	gvf_p_len_wps = 0

Macro Definition Documentation

GVF_LINE_HEADING

#define GVF_LINE_HEADING   0

Default heading in degrees for a trajectory called from gvf_line_**_HEADING

Definition at line 40 of file nav_line.c.

GVF_LINE_KE

#define GVF_LINE_KE   1

Gain ke for the line trajectory

Definition at line 30 of file nav_line.c.

GVF_LINE_KN

#define GVF_LINE_KN   1

Gain kn for the line trajectory

Definition at line 35 of file nav_line.c.

GVF_SEGMENT_D1

#define GVF_SEGMENT_D1   0

In case of tracking a segment, how much distance in meters will go the vehicle beyond the point x1,y1 before turning back

Definition at line 45 of file nav_line.c.

GVF_SEGMENT_D2

#define GVF_SEGMENT_D2   0

In case of tracking a segment, how much distance in meters will go the vehicle beyond the point x2,y2 before turning back

Definition at line 50 of file nav_line.c.

Function Documentation

gvf_line()

static void gvf_line ( float  a, float  b, float  heading  )

static

---

Definition at line 61 of file nav_line.c.

References b, gvf_con::error, foo, gvf_control, gvf_control_2D(), gvf_line_info(), gvf_line_par, gvf_p_len_wps, gvf_segment, gvf_trajectory, heading, gvf_con::ke, gvf_li_par::ke, gvf_li_par::kn, gvf_tra::p, gvf_tra::p_len, gvf_seg::seg, and gvf_tra::type.

Referenced by nav_gvf_line_XY_heading(), and nav_gvf_segment_loop_XY1_XY2().

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nav_gvf_line_wp1_wp2()

bool nav_gvf_line_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2
	)

Definition at line 161 of file nav_line.c.

References foo, gvf_p_len_wps, gvf_trajectory, nav_gvf_line_XY1_XY2(), gvf_tra::p, WaypointX, and WaypointY.

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nav_gvf_line_wp_heading()

bool nav_gvf_line_wp_heading	(	uint8_t	wp,
		float	heading
	)

Definition at line 127 of file nav_line.c.

References b, foo, heading, nav_gvf_line_XY_heading(), WaypointX, and WaypointY.

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nav_gvf_line_XY1_XY2()

bool nav_gvf_line_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)

Definition at line 137 of file nav_line.c.

References foo, gvf_p_len_wps, gvf_segment, gvf_trajectory, nav_gvf_line_XY_heading(), gvf_tra::p, gvf_seg::seg, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by nav_gvf_line_wp1_wp2(), and nav_gvf_segment_XY1_XY2().

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nav_gvf_line_XY_heading()

bool nav_gvf_line_XY_heading	(	float	a,
		float	b,
		float	heading
	)

---

Definition at line 120 of file nav_line.c.

References b, gvf_line(), gvf_set_direction(), and heading.

Referenced by nav_gvf_line_wp_heading(), and nav_gvf_line_XY1_XY2().

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nav_gvf_segment_loop_wp1_wp2()

bool nav_gvf_segment_loop_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2,
		float	d1,
		float	d2
	)

Definition at line 201 of file nav_line.c.

References d1, d2, foo, gvf_p_len_wps, gvf_trajectory, nav_gvf_segment_loop_XY1_XY2(), gvf_tra::p, WaypointX, and WaypointY.

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nav_gvf_segment_loop_XY1_XY2()

bool nav_gvf_segment_loop_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2,
		float	d1,
		float	d2
	)

Definition at line 177 of file nav_line.c.

References alpha, d1, d2, foo, gvf_line(), gvf_segment, gvf_set_direction(), out_of_segment_area(), s, gvf_seg::seg, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by nav_gvf_segment_loop_wp1_wp2().

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nav_gvf_segment_points()

bool nav_gvf_segment_points	(	struct FloatVect2	start,
		struct FloatVect2	end
	)

Definition at line 253 of file nav_line.c.

References nav_gvf_segment_XY1_XY2(), FloatVect2::x, and FloatVect2::y.

Referenced by nav_gvf_survey_polygon_run().

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nav_gvf_segment_wp1_wp2()

bool nav_gvf_segment_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2
	)

Definition at line 239 of file nav_line.c.

References foo, gvf_p_len_wps, gvf_trajectory, nav_gvf_segment_XY1_XY2(), gvf_tra::p, WaypointX, and WaypointY.

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nav_gvf_segment_XY1_XY2()

bool nav_gvf_segment_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)

Definition at line 217 of file nav_line.c.

References foo, nav_gvf_line_XY1_XY2(), p, and stateGetPositionEnu_f().

Referenced by nav_gvf_segment_points(), and nav_gvf_segment_wp1_wp2().

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out_of_segment_area()

static int out_of_segment_area ( float  x1, float  y1, float  x2, float  y2, float  d1, float  d2  )

static

Definition at line 85 of file nav_line.c.

References alpha, d1, d2, foo, p, s, and stateGetPositionEnu_f().

Referenced by nav_gvf_ik_segment_loop_XY1_XY2(), and nav_gvf_segment_loop_XY1_XY2().

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Variable Documentation

gvf_line_par

gvf_li_par gvf_line_par = {GVF_LINE_KE, GVF_LINE_KN, GVF_LINE_HEADING}

---

Definition at line 53 of file nav_line.c.

Referenced by gvf_line().

gvf_p_len_wps

int gvf_p_len_wps = 0

static

Definition at line 57 of file nav_line.c.

Referenced by gvf_ik_line(), gvf_line(), nav_gvf_ik_line_wp1_wp2(), nav_gvf_ik_line_XY1_XY2(), nav_gvf_ik_segment_loop_wp1_wp2(), nav_gvf_ik_segment_wp1_wp2(), nav_gvf_line_wp1_wp2(), nav_gvf_line_XY1_XY2(), nav_gvf_segment_loop_wp1_wp2(), and nav_gvf_segment_wp1_wp2().

gvf_segment_par

gvf_seg_par gvf_segment_par = {GVF_SEGMENT_D1, GVF_SEGMENT_D2}

Definition at line 54 of file nav_line.c.