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!
<module name="nav_spiral">
b'<define name="NAV_SPIRAL_MIN_CIRCLE_RADIUS" value="120" />\n '
</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" task="control">
<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>
<dep>
<depends>@navigation</depends>
</dep>
<header>
<file name="nav_spiral.h"/>
</header>
<makefile target="ap|sim|nps">
<file name="nav_spiral.c"/>
<test firmware="fixedwing">
<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
</test>
</makefile>
</module>