Paparazzi UAS  v5.15_devel-164-g81d4ceb
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nav_basic_fw module

Standard navigation patterns and flight plan handling

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

1 <module name="nav_basic_fw">
2  <define name="NAV_SURVEY_RECTANGLE_DYNAMIC" value="FALSE|TRUE" />
3 </module>

Module configuration options

Define Options

  • name: NAV_SURVEY_RECTANGLE_DYNAMIC value: FALSE|TRUE
    Description: Set to true to allow changing sweep distance mid survey

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw nav_basic_fw.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_basic_fw" dir="nav">
<doc>
<description>
Standard navigation patterns and flight plan handling
</description>
<define name="NAV_SURVEY_RECTANGLE_DYNAMIC" value="FALSE|TRUE" description="Set to true to allow changing sweep distance mid survey"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="nav">
<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
<dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
<dl_setting MAX="1.0" MIN="0.0" STEP="0.01" VAR="fp_throttle"/>
<dl_setting MAX="5.0" MIN="-5.0" STEP="0.1" VAR="fp_climb"/>
<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
<dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
<dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
<dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
<dl_setting min="10" max="500" step="1" var="sweep_var" type="float" shortname="Distance" module="firmwares/fixedwing/nav"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="nav.h" dir="firmwares/fixedwing"/>
</header>
<init fun="nav_init()"/>
<makefile target="ap|sim|nps|hitl" firmware="fixedwing">
<file name="nav.c" dir="$(SRC_FIRMWARE)"/>
<file name="common_flight_plan.c" dir="subsystems/navigation"/>
<file name="nav_survey_rectangle.c" dir="subsystems/navigation"/>
<define name="NAV"/>
</makefile>
</module>