Paparazzi UAS  v5.15_devel-113-g1b57ff1
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mission_fw_nav.c File Reference

mission navigation for fixedwing aircraft More...

#include <stdio.h>
#include "modules/mission/mission_common.h"
#include "autopilot.h"
#include "firmwares/fixedwing/nav.h"
#include "subsystems/navigation/common_nav.h"
#include "generated/flight_plan.h"
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Go to the source code of this file.

Functions

bool mission_point_of_lla (struct EnuCoor_f *point, struct LlaCoor_i *lla)
 Utility function: converts lla (int) to local point (float) More...
 
static bool mission_nav_wp (struct _mission_wp *wp)
 Navigation function to a single waypoint. More...
 
static bool mission_nav_circle (struct _mission_circle *circle)
 Navigation function on a circle. More...
 
static bool mission_nav_segment (struct _mission_segment *segment)
 Navigation function along a segment. More...
 
static bool mission_nav_path (struct _mission_path *path)
 Navigation function along a path. More...
 
static bool mission_nav_custom (struct _mission_custom *custom, bool init)
 Call custom navigation function. More...
 
int mission_run ()
 Run mission. More...
 

Variables

static const float dt_navigation = 1.0 / ((float)NAVIGATION_FREQUENCY)
 
struct EnuCoor_f last_wp_f = { 0., 0., 0. }
 

Detailed Description

mission navigation for fixedwing aircraft

Implement specific navigation routines for the mission control of a fixedwing aircraft

Definition in file mission_fw_nav.c.

Function Documentation

static bool mission_nav_circle ( struct _mission_circle circle)
inlinestatic

Navigation function on a circle.

Definition at line 89 of file mission_fw_nav.c.

References _mission_circle::center, nav_circle_XY(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, and _mission_circle::radius.

Referenced by mission_run().

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static bool mission_nav_custom ( struct _mission_custom custom,
bool  init 
)
inlinestatic

Call custom navigation function.

Definition at line 143 of file mission_fw_nav.c.

References _mission_registered::cb, _mission_custom::nb, _mission_custom::params, and _mission_custom::reg.

Referenced by mission_run().

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static bool mission_nav_path ( struct _mission_path path)
inlinestatic

Navigation function along a path.

Definition at line 114 of file mission_fw_nav.c.

References CARROT, mission_nav_wp(), nav_approaching_xy(), nav_route_xy(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, _mission_path::nb, _mission_path::path, _mission_path::path_idx, _mission_wp::wp, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by mission_run().

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static bool mission_nav_segment ( struct _mission_segment segment)
inlinestatic

Navigation function along a segment.

Definition at line 99 of file mission_fw_nav.c.

References CARROT, _mission_segment::from, nav_approaching_xy(), nav_route_xy(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, and _mission_segment::to.

Referenced by mission_run().

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static bool mission_nav_wp ( struct _mission_wp wp)
inlinestatic

Navigation function to a single waypoint.

Definition at line 74 of file mission_fw_nav.c.

References CARROT, fly_to_xy(), nav_approaching_xy(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, _mission_wp::wp, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_path(), and mission_run().

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bool mission_point_of_lla ( struct EnuCoor_f point,
struct LlaCoor_i lla 
)

Utility function: converts lla (int) to local point (float)

Get the ENU component of LLA mission point This function is firmware specific.

TODO: don't convert to float, either use double or do completely in fixed point

Definition at line 38 of file mission_fw_nav.c.

References LlaCoor_f::alt, UtmCoor_f::east, LLA_FLOAT_OF_BFP, max_dist_from_home, nav_utm_east0, nav_utm_north0, nav_utm_zone0, UtmCoor_f::north, utm_of_lla_f(), waypoints, point::x, EnuCoor_f::x, point::y, EnuCoor_f::y, EnuCoor_f::z, and UtmCoor_f::zone.

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int mission_run ( void  )

Run mission.

This function should be implemented into a dedicated file since navigation functions are different for different firmwares

Currently, this function should be called from the flight plan

Returns
return TRUE when the mission is running, FALSE when it is finished

Definition at line 148 of file mission_fw_nav.c.

References _mission::current_idx, dt_navigation, _mission_element::duration, _mission_element::element, _mission::element_time, mission, MISSION_ELEMENT_NB, mission_get(), mission_nav_circle(), mission_nav_custom(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), MissionCircle, MissionCustom, MissionPath, MissionSegment, MissionWP, and _mission_element::type.

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Variable Documentation

const float dt_navigation = 1.0 / ((float)NAVIGATION_FREQUENCY)
static

Definition at line 67 of file mission_fw_nav.c.

Referenced by mission_run().

struct EnuCoor_f last_wp_f = { 0., 0., 0. }

Definition at line 70 of file mission_fw_nav.c.