nav_rover_base module

Basic navigation functions for Rovers

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="nav_rover_base"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• nav_init()
• nav_rover_init()

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message BLOCK call nav_parse_BLOCK(buf)
• on message MOVE_WP call nav_parse_MOVE_WP(buf)

Files

Header Files

The following headers are automatically included in modules.h

• nav_rover_base.h

Source Files

• modules/nav/nav_rover_base.c
• firmwares/rover/navigation.c
• modules/nav/common_flight_plan.c
• modules/nav/waypoints.c

Raw nav_rover_base.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_rover_base" dir="nav" task="control">
  <doc>
    <description>
      Basic navigation functions for Rovers
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="nav">
        <dl_setting MAX="100." MIN="-100." STEP="0.1" VAR="nav.radius"/>
        <dl_setting MAX="359." MIN="0." STEP="5." VAR="nav.heading" unit="rad" alt_unit="deg"/>
        <dl_setting MAX="20." MIN="-20." STEP="1." VAR="nav.shift" module="firmwares/rover/navigation" handler="IncreaseShift" shortname="inc. shift"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <provides>navigation</provides>
  </dep>
  <header>
    <file name="nav_rover_base.h"/>
  </header>
  <init fun="nav_init()"/>
  <init fun="nav_rover_init()"/>
  <datalink message="BLOCK" fun="nav_parse_BLOCK(buf)"/>
  <datalink message="MOVE_WP" fun="nav_parse_MOVE_WP(buf)"/>
  <makefile>
    <file name="nav_rover_base.c"/>
    <file name="navigation.c" dir="firmwares/rover"/>
    <file name="common_flight_plan.c"/>
    <file name="waypoints.c"/>
    <define name="USE_NAVIGATION"/>
    <test firmware="rover">
      <define name="USE_GENERATED_AUTOPILOT"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>