Paparazzi UAS  v5.15_devel-47-g0391b4d
Paparazzi is a free software Unmanned Aircraft System.
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nav_spiral module

Fixedwing navigation in a spiral/helix.

creating a helix:

  • start radius to end radius, increasing after reaching alphamax
  • Alphamax is calculated from given segments
  • IMPORTANT: numer of segments has to be larger than 2!

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_spiral">
2  <define name="NAV_SPIRAL_MIN_CIRCLE_RADIUS" value="120" />
3 </module>

Module configuration options

Define Options

  • name: NAV_SPIRAL_MIN_CIRCLE_RADIUS value: 120
    Description: minium circle radius in meters

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw nav_spiral.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_spiral" dir="nav">
<doc>
<description>
Fixedwing navigation in a spiral/helix.
creating a helix:
- start radius to end radius, increasing after reaching alphamax
- Alphamax is calculated from given segments
- IMPORTANT: numer of segments has to be larger than 2!
</description>
<define name="NAV_SPIRAL_MIN_CIRCLE_RADIUS" value="120" description="minium circle radius in meters"/>
</doc>
<header>
<file name="nav_spiral.h"/>
</header>
<makefile target="ap|sim|nps">
<file name="nav_spiral.c"/>
</makefile>
</module>