nav.c File Reference

Fixedwing functions to compute navigation. More...

#include <math.h>
#include "std.h"
#include "firmwares/fixedwing/nav.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "autopilot.h"
#include "modules/gps/gps.h"
#include "generated/flight_plan.h"
#include "modules/nav/common_nav.c"
#include "modules/datalink/telemetry.h"

Include dependency graph for nav.c:

Go to the source code of this file.

Macros
#define	NAV_C
#define	NAV_GLIDE_PITCH_TRIM   0.
#define	MIN_DX   ((int16_t)(MAX_PPRZ * 0.05))
#define	MAX_DIST_CARROT   250.
#define	MIN_HEIGHT_CARROT   50.
#define	MAX_HEIGHT_CARROT   150.
#define	Goto3D(radius)
#define	LINE_START_FUNCTION   {}
#define	LINE_STOP_FUNCTION   {}
#define	FAILSAFE_HOME_RADIUS   DEFAULT_CIRCLE_RADIUS

Enumerations
enum	eight_status {   R1T , RT2 , C2 , R2T ,   RT1 , C1 }

Functions
void	nav_init_stage (void)
	needs to be implemented by fixedwing and rotorcraft seperately
void	nav_circle_XY (float x, float y, float radius)
	Navigates around (x, y).
void	nav_glide (uint8_t start_wp, uint8_t wp)
void	nav_glide_alt (float start_alt, float final_alt)
void	nav_compute_baseleg (uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius)
void	nav_compute_final_from_glide (uint8_t wp_af, uint8_t wp_td, float glide)
static void	compute_TOD (uint8_t _af, uint8_t _td, uint8_t _tod, float glide_airspeed, float glide_vspeed)
void	nav_follow (uint8_t _ac_id, float distance, float height)
bool	nav_approaching_xy (float x, float y, float from_x, float from_y, float approaching_time)
	Decide if the UAV is approaching the current waypoint.
void	fly_to_xy (float x, float y)
	Computes desired_x, desired_y and desired_course.
void	nav_route_xy (float last_wp_x, float last_wp_y, float wp_x, float wp_y)
	Computes the carrot position along the desired segment.
static void	nav_set_altitude (void)
void	nav_home (void)
	Home mode navigation (circle around HOME)
void	nav_periodic_task (void)
	Navigation main: call to the code generated from the XML flight plan.
static void	send_nav_ref (struct transport_tx *trans, struct link_device *dev)
	Periodic telemetry.
static void	send_nav (struct transport_tx *trans, struct link_device *dev)
static void	DownlinkSendWp (struct transport_tx *trans, struct link_device *dev, uint8_t _wp)
static void	send_wp_moved (struct transport_tx *trans, struct link_device *dev)
void	DownlinkSendWpNr (uint8_t _wp)
static void	send_circle (struct transport_tx *trans, struct link_device *dev)
static void	send_segment (struct transport_tx *trans, struct link_device *dev)
static void	send_survey (struct transport_tx *trans, struct link_device *dev)
void	nav_init (void)
	Navigation Initialisation.
void	nav_without_gps (void)
	Failsafe navigation without position estimation.
void	nav_parse_BLOCK (struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
void	nav_parse_MOVE_WP (struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
void	nav_eight_init (void)
void	nav_eight (uint8_t target, uint8_t c1, float radius)
	Navigation along a figure 8.
void	nav_oval_init (void)
void	nav_oval (uint8_t p1, uint8_t p2, float radius)

Variables
static unit_t	unit
enum oval_status	oval_status
float	last_x
float	last_y
float	rc_pitch
float	carrot_x
float	carrot_y
float	nav_circle_radians
	Status on the current circle.
float	nav_circle_radians_no_rewind
float	nav_circle_trigo_qdr
float	nav_radius
float	nav_course
float	nav_climb
float	nav_shift
static float	nav_leg_progress
	Status on the current leg (percentage, 0.
static float	nav_carrot_leg_progress
static float	nav_leg_length
	length of the current leg (m)
bool	nav_in_circle = false
bool	nav_in_segment = false
float	nav_circle_x
float	nav_circle_y
float	nav_circle_radius
float	nav_segment_x_1
float	nav_segment_y_1
float	nav_segment_x_2
float	nav_segment_y_2
uint8_t	horizontal_mode
float	circle_bank = 0
float	flight_altitude
	Dynamically adjustable, reset to nav_altitude when it is changing.
float	nav_glide_pitch_trim
float	nav_ground_speed_setpoint
float	nav_ground_speed_pgain
float	nav_survey_shift
float	nav_survey_west
float	nav_survey_east
float	nav_survey_north
float	nav_survey_south
bool	nav_survey_active
int	nav_mode
float	baseleg_out_qdr
float	nav_altitude = GROUND_ALT + MIN_HEIGHT_CARROT
float	desired_x
float	desired_y
pprz_t	nav_throttle_setpoint
float	nav_pitch
float	fp_pitch
float	fp_throttle
float	fp_climb
static enum eight_status	eight_status
uint8_t	nav_oval_count
	Navigation along a figure O.

Detailed Description

Fixedwing functions to compute navigation.

Definition in file nav.c.

Macro Definition Documentation

FAILSAFE_HOME_RADIUS

#define FAILSAFE_HOME_RADIUS   DEFAULT_CIRCLE_RADIUS

Definition at line 410 of file nav.c.

Goto3D

#define Goto3D

(

radius

)

Value:

    {                                                \
    if (autopilot_get_mode() == AP_MODE_AUTO2) {                                 \
      int16_t yaw = radio_control_get(RADIO_YAW);                          \
      if (yaw > MIN_DX || yaw < -MIN_DX) {                              \
        carrot_x += FLOAT_OF_PPRZ(yaw, 0, -20.);                        \
        carrot_x = Min(carrot_x, MAX_DIST_CARROT);                      \
        carrot_x = Max(carrot_x, -MAX_DIST_CARROT);                     \
      }                                                                 \
      int16_t pitch = radio_control_get(RADIO_PITCH);                      \
      if (pitch > MIN_DX || pitch < -MIN_DX) {                          \
        carrot_y += FLOAT_OF_PPRZ(pitch, 0, -20.);                      \
        carrot_y = Min(carrot_y, MAX_DIST_CARROT);                      \
        carrot_y = Max(carrot_y, -MAX_DIST_CARROT);                     \
      }                                                                 \
      v_ctl_mode = V_CTL_MODE_AUTO_ALT;                                 \
      int16_t roll =  radio_control_get(RADIO_ROLL);                       \
      if (roll > MIN_DX || roll < -MIN_DX) {                            \
        nav_altitude += FLOAT_OF_PPRZ(roll, 0, -1.0);                   \
        nav_altitude = Max(nav_altitude, MIN_HEIGHT_CARROT+ground_alt); \
        nav_altitude = Min(nav_altitude, MAX_HEIGHT_CARROT+ground_alt); \
      }                                                                 \
    }                                                                   \
    nav_circle_XY(carrot_x, carrot_y, radius);                          \
  }

Definition at line 174 of file nav.c.

LINE_START_FUNCTION

#define LINE_START_FUNCTION   {}

Definition at line 276 of file nav.c.

LINE_STOP_FUNCTION

#define LINE_STOP_FUNCTION   {}

Definition at line 279 of file nav.c.

MAX_DIST_CARROT

#define MAX_DIST_CARROT   250.

Definition at line 170 of file nav.c.

MAX_HEIGHT_CARROT

#define MAX_HEIGHT_CARROT   150.

Definition at line 172 of file nav.c.

MIN_DX

#define MIN_DX   ((int16_t)(MAX_PPRZ * 0.05))

Definition at line 104 of file nav.c.

MIN_HEIGHT_CARROT

#define MIN_HEIGHT_CARROT   50.

Definition at line 171 of file nav.c.

NAV_C

#define NAV_C

Definition at line 33 of file nav.c.

NAV_GLIDE_PITCH_TRIM

#define NAV_GLIDE_PITCH_TRIM   0.

Definition at line 78 of file nav.c.

Enumeration Type Documentation

eight_status

enum eight_status

Enumerator
R1T
RT2
C2
R2T
RT1
C1

Definition at line 617 of file nav.c.

Function Documentation

compute_TOD()

static void compute_TOD ( uint8_t  _af, uint8_t  _td, uint8_t  _tod, float  glide_airspeed, float  glide_vspeed  )

inlinestatic

Definition at line 261 of file nav.c.

References foo, stateGetHorizontalWindspeed_f(), WaypointAlt, WaypointX, WaypointY, FloatVect2::x, and FloatVect2::y.

Here is the call graph for this function:

DownlinkSendWp()

static void DownlinkSendWp ( struct transport_tx *  trans, struct link_device *  dev, uint8_t  _wp  )

static

Definition at line 482 of file nav.c.

References dev, foo, nav_utm_east0, nav_utm_north0, nav_utm_zone0, waypoints, EnuCoor_f::x, point::x, EnuCoor_f::y, and point::y.

Referenced by DownlinkSendWpNr(), and send_wp_moved().

Here is the caller graph for this function:

DownlinkSendWpNr()

void DownlinkSendWpNr

(

uint8_t

_wp

)

Definition at line 497 of file nav.c.

References DefaultChannel, DefaultDevice, DownlinkSendWp(), foo, and nb_waypoint.

Referenced by nav_catapult_run().

Here is the call graph for this function:

Here is the caller graph for this function:

fly_to_xy()

void fly_to_xy	(	float	x,
		float	y
	)

Computes desired_x, desired_y and desired_course.

Definition at line 356 of file nav.c.

References CARROT, desired_x, desired_y, foo, h_ctl_course_pgain, h_ctl_course_setpoint, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_COURSE, LATERAL_MODE_ROLL, nav_mode, NAV_MODE_COURSE, s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by formation_flight(), mission_nav_wp(), nav_circle_XY(), nav_route_xy(), and potential_task().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_approaching_xy()

bool nav_approaching_xy	(	float	x,
		float	y,
		float	from_x,
		float	from_y,
		float	approaching_time
	)

Decide if the UAV is approaching the current waypoint.

Computes dist2_to_wp and compare it to square carrot. Return true if it is smaller. Else computes by scalar products if uav has not gone past waypoint. approaching_time can be negative and in this case, the UAV will fly after the waypoint for the given number of seconds.

Returns

true if the position (x, y) is reached

distance to waypoint in x

distance to waypoint in y

Definition at line 325 of file nav.c.

References dist2_to_wp, foo, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_nav_approaching(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_catapult_run(), nav_eight(), nav_gvf_survey_polygon_run(), nav_land_run(), nav_line_osam_run(), nav_oval(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), nav_takeoff_run(), and snav_route().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_circle_XY()

void nav_circle_XY	(	float	x,
		float	y,
		float	radius
	)

Navigates around (x, y).

Angle from center to mobile.

Clockwise iff radius > 0

Computes a prebank. Go straight if inside or outside the circle

Definition at line 108 of file nav.c.

References CARROT, circle_bank, DistanceSquare, fly_to_xy(), foo, horizontal_mode, HORIZONTAL_MODE_CIRCLE, Min, nav_circle_radians, nav_circle_radians_no_rewind, nav_circle_radius, nav_circle_trigo_qdr, nav_circle_x, nav_circle_y, NAV_GRAVITY, nav_in_circle, nav_in_segment, nav_mode, NAV_MODE_COURSE, nav_shift, Square, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_circle(), nav_eight(), nav_flower_run(), nav_lace_run(), nav_launcher_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_oval(), nav_rosette_run(), nav_skid_landing_run(), nav_spiral_3D_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), nav_trinity_run(), nav_vertical_raster_run(), snav_circle1(), snav_circle2(), and snav_on_time().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_compute_baseleg()

void nav_compute_baseleg	(	uint8_t	wp_af,
		uint8_t	wp_td,
		uint8_t	wp_baseleg,
		float	radius
	)

Definition at line 220 of file nav.c.

References point::a, baseleg_out_qdr, foo, nav_radius, waypoints, point::x, and point::y.

nav_compute_final_from_glide()

void nav_compute_final_from_glide	(	uint8_t	wp_af,
		uint8_t	wp_td,
		float	glide
	)

Definition at line 241 of file nav.c.

References point::a, foo, waypoints, point::x, and point::y.

nav_eight()

void nav_eight	(	uint8_t	target,
		uint8_t	c1,
		float	radius
	)

Navigation along a figure 8.

The cross center is defined by the waypoint [target], the center of one of the circles is defined by [c1]. Altitude is given by [target]. The navigation goes through 6 states: C1 (circle around [c1]), R1T, RT2 (route from circle 1 to circle 2 over [target]), C2 and R2T, RT1. If necessary, the [c1] waypoint is moved in the direction of [target] to be not far than [2*radius].

Definition at line 633 of file nav.c.

References point::a, UtmCoor_f::alt, C1, c1, C2, c2, CARROT, foo, InitStage, nav_approaching_xy(), nav_circle_XY(), nav_route_xy(), NavCircleWaypoint, NavQdrCloseTo, R1T, R2T, RT1, RT2, target, waypoints, point::x, and point::y.

Here is the call graph for this function:

nav_eight_init()

void nav_eight_init

(

void

)

Definition at line 620 of file nav.c.

References C1.

nav_follow()

void nav_follow	(	uint8_t	_ac_id,
		float	distance,
		float	height
	)

Definition at line 302 of file nav.c.

nav_glide()

void nav_glide	(	uint8_t	start_wp,
		uint8_t	wp
	)

Definition at line 158 of file nav.c.

References foo, nav_glide_alt(), and waypoints.

Here is the call graph for this function:

nav_glide_alt()

void nav_glide_alt	(	float	start_alt,
		float	final_alt
	)

Definition at line 163 of file nav.c.

References foo, nav_leg_length, nav_leg_progress, NavVerticalAltitudeMode, and stateGetHorizontalSpeedNorm_f().

Referenced by nav_glide(), and nav_land_run().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_home()

void nav_home

(

void

)

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 424 of file nav.c.

References autopilot, compute_dist2_to_home(), dist2_to_home, dist2_to_wp, FAILSAFE_HOME_RADIUS, foo, ground_alt, pprz_autopilot::launch, nav_altitude, nav_pitch, nav_set_altitude(), NavCircleWaypoint, v_ctl_mode, V_CTL_MODE_AUTO_ALT, V_CTL_MODE_AUTO_THROTTLE, and v_ctl_throttle_setpoint.

Referenced by autopilot_static_periodic(), and navigation_task().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_init()

void nav_init

(

void

)

Navigation Initialisation.

Definition at line 532 of file nav.c.

References common_flight_plan_init(), DEFAULT_CIRCLE_RADIUS, DefaultPeriodic, foo, fp_climb, fp_pitch, fp_throttle, ground_alt, nav_glide_pitch_trim, NAV_GLIDE_PITCH_TRIM, nav_ground_speed_pgain, nav_ground_speed_setpoint, nav_mode, NAV_MODE_COURSE, nav_radius, nav_survey_shift, register_periodic_telemetry(), send_circle(), send_nav(), send_nav_ref(), send_segment(), send_survey(), and send_wp_moved().

Here is the call graph for this function:

nav_init_stage()

void nav_init_stage

(

void

)

needs to be implemented by fixedwing and rotorcraft seperately

Definition at line 92 of file nav.c.

References last_x, last_y, nav_circle_radians, nav_circle_radians_no_rewind, nav_in_circle, nav_in_segment, nav_shift, stage_time, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by nav_bungee_takeoff_run(), nav_flower_run(), nav_gvf_survey_polygon_run(), nav_lace_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_rosette_run(), nav_skid_landing_run(), nav_survey_disc_run(), nav_survey_hybrid_run(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), nav_trinity_run(), and nav_vertical_raster_run().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_oval()

void nav_oval	(	uint8_t	p1,
		uint8_t	p2,
		float	radius
	)

Definition at line 762 of file nav.c.

References point::a, CARROT, foo, InitStage, LINE_START_FUNCTION, LINE_STOP_FUNCTION, nav_approaching_xy(), nav_circle_XY(), nav_oval_count, nav_route_xy(), NavQdrCloseTo, OC1, OC2, OR12, OR21, waypoints, point::x, and point::y.

Referenced by nav_register_oval(), and nav_register_oval().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_oval_init()

void nav_oval_init

(

void

)

Definition at line 756 of file nav.c.

References nav_oval_count, and OC2.

Referenced by nav_register_oval().

Here is the caller graph for this function:

nav_parse_BLOCK()

void nav_parse_BLOCK	(	struct link_device *	dev,
		struct transport_tx *	trans,
		uint8_t *	buf
	)

Definition at line 585 of file nav.c.

References dev, foo, nav_goto_block(), and SEND_NAVIGATION.

Here is the call graph for this function:

nav_parse_MOVE_WP()

void nav_parse_MOVE_WP	(	struct link_device *	dev,
		struct transport_tx *	trans,
		uint8_t *	buf
	)

Definition at line 592 of file nav.c.

References LlaCoor_f::alt, dev, foo, LlaCoor_f::lat, LlaCoor_f::lon, nav_move_waypoint(), nav_utm_east0, nav_utm_north0, nav_utm_zone0, utm_of_lla_f(), waypoints, point::x, point::y, and UtmCoor_f::zone.

Here is the call graph for this function:

nav_periodic_task()

void nav_periodic_task

(

void

)

Navigation main: call to the code generated from the XML flight plan.

Definition at line 445 of file nav.c.

References circle_bank, compute_dist2_to_home(), dist2_to_wp, foo, h_ctl_course_pre_bank, nav_in_circle, nav_set_altitude(), nav_survey_active, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_mode, and V_CTL_MODE_AUTO_CLIMB.

Referenced by autopilot_static_periodic(), and navigation_task().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_route_xy()

void nav_route_xy	(	float	last_wp_x,
		float	last_wp_y,
		float	wp_x,
		float	wp_y
	)

Computes the carrot position along the desired segment.

distance of carrot (in meter)

Definition at line 382 of file nav.c.

References CARROT, fly_to_xy(), foo, horizontal_mode, HORIZONTAL_MODE_ROUTE, nav_carrot_leg_progress, nav_in_circle, nav_in_segment, nav_leg_length, nav_leg_progress, nav_segment_x_1, nav_segment_x_2, nav_segment_y_1, nav_segment_y_2, nav_shift, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_path(), mission_nav_segment(), nav_bungee_takeoff_run(), nav_eight(), nav_flower_run(), nav_lace_run(), nav_land_run(), nav_launcher_run(), nav_line_osam_run(), nav_oval(), nav_points(), nav_rosette_run(), nav_skid_landing_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_rectangle(), nav_survey_zamboni_run(), nav_trinity_run(), and snav_route().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_set_altitude()

static void nav_set_altitude ( void  )

static

Definition at line 413 of file nav.c.

References flight_altitude, foo, nav_altitude, and v_ctl_altitude_setpoint.

Referenced by nav_home(), and nav_periodic_task().

Here is the caller graph for this function:

nav_without_gps()

void nav_without_gps

(

void

)

Failsafe navigation without position estimation.

Just set attitude and throttle to FAILSAFE values to prevent the plane from crashing.

Definition at line 569 of file nav.c.

References foo, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_ROLL, MAX_PPRZ, nav_pitch, nav_throttle_setpoint, TRIM_UPPRZ, v_ctl_mode, and V_CTL_MODE_AUTO_THROTTLE.

Referenced by navigation_task().

Here is the caller graph for this function:

send_circle()

static void send_circle ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 504 of file nav.c.

References dev, foo, nav_circle_radius, nav_circle_x, nav_circle_y, and nav_in_circle.

Referenced by nav_init(), send_nav_status(), and send_nav_status().

Here is the caller graph for this function:

send_nav()

static void send_nav ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 477 of file nav.c.

References dev, and SEND_NAVIGATION.

Referenced by nav_init().

Here is the caller graph for this function:

send_nav_ref()

static void send_nav_ref ( struct transport_tx *  trans, struct link_device *  dev  )

static

Periodic telemetry.

Definition at line 471 of file nav.c.

References dev, foo, ground_alt, nav_utm_east0, nav_utm_north0, and nav_utm_zone0.

Referenced by nav_init().

Here is the caller graph for this function:

send_segment()

static void send_segment ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 512 of file nav.c.

References dev, foo, nav_in_segment, nav_segment_x_1, nav_segment_x_2, nav_segment_y_1, and nav_segment_y_2.

Referenced by nav_init(), send_nav_status(), and send_nav_status().

Here is the caller graph for this function:

send_survey()

static void send_survey ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 520 of file nav.c.

References dev, foo, nav_survey_active, nav_survey_east, nav_survey_north, nav_survey_south, and nav_survey_west.

Referenced by nav_init().

Here is the caller graph for this function:

send_wp_moved()

static void send_wp_moved ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 489 of file nav.c.

References dev, DownlinkSendWp(), and nb_waypoint.

Referenced by nav_init().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

baseleg_out_qdr

float baseleg_out_qdr

Definition at line 219 of file nav.c.

Referenced by nav_compute_baseleg(), and nav_land_run().

carrot_x

float carrot_x

Definition at line 50 of file nav.c.

carrot_y

float carrot_y

Definition at line 50 of file nav.c.

circle_bank

float circle_bank = 0

Definition at line 71 of file nav.c.

Referenced by nav_circle_XY(), and nav_periodic_task().

desired_x

float desired_x

Definition at line 308 of file nav.c.

Referenced by fly_to_xy(), formation_flight(), gvf_parametric_control_2D(), potential_task(), and send_desired().

desired_y

float desired_y

Definition at line 308 of file nav.c.

Referenced by fly_to_xy(), formation_flight(), gvf_parametric_control_2D(), potential_task(), and send_desired().

eight_status

enum eight_status eight_status

static

Definition at line 619 of file nav.c.

flight_altitude

float flight_altitude

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 74 of file nav.c.

Referenced by formation_flight(), and nav_set_altitude().

fp_climb

float fp_climb

Definition at line 313 of file nav.c.

Referenced by nav_init().

fp_pitch

float fp_pitch

Definition at line 311 of file nav.c.

Referenced by nav_init().

fp_throttle

float fp_throttle

Definition at line 312 of file nav.c.

Referenced by nav_init().

horizontal_mode

uint8_t horizontal_mode

Definition at line 70 of file nav.c.

Referenced by nav_circle_XY(), nav_route_xy(), and send_mode().

last_x

float last_x

Definition at line 47 of file nav.c.

Referenced by nav_gvf_survey_polygon_run(), nav_init_stage(), and nav_survey_polygon_run().

last_y

float last_y

Definition at line 47 of file nav.c.

Referenced by nav_gvf_survey_polygon_run(), nav_init_stage(), and nav_survey_polygon_run().

nav_altitude

float nav_altitude = GROUND_ALT + MIN_HEIGHT_CARROT

Definition at line 307 of file nav.c.

Referenced by formation_flight(), nav_home(), nav_set_altitude(), nav_skid_landing_glide(), start_formation(), stop_formation(), and tcas_periodic_task_4Hz().

nav_carrot_leg_progress

float nav_carrot_leg_progress

static

Definition at line 61 of file nav.c.

Referenced by nav_route_xy().

nav_circle_radians

float nav_circle_radians

Status on the current circle.

Definition at line 53 of file nav.c.

Referenced by nav_circle_XY(), and nav_init_stage().

nav_circle_radians_no_rewind

float nav_circle_radians_no_rewind

Definition at line 54 of file nav.c.

Referenced by nav_circle_XY(), and nav_init_stage().

nav_circle_radius

float nav_circle_radius

Definition at line 68 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_circle_XY(), and send_circle().

nav_circle_trigo_qdr

float nav_circle_trigo_qdr

Definition at line 55 of file nav.c.

Referenced by nav_circle_XY(), and nav_land_run().

nav_circle_x

float nav_circle_x

Definition at line 68 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_circle_XY(), and send_circle().

nav_circle_y

float nav_circle_y

Definition at line 68 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_circle_XY(), and send_circle().

nav_climb

float nav_climb

Definition at line 56 of file nav.c.

nav_course

float nav_course

Definition at line 56 of file nav.c.

nav_glide_pitch_trim

float nav_glide_pitch_trim

Definition at line 76 of file nav.c.

Referenced by nav_init().

nav_ground_speed_pgain

float nav_ground_speed_pgain

Definition at line 83 of file nav.c.

Referenced by nav_init().

nav_ground_speed_setpoint

float nav_ground_speed_setpoint

Definition at line 83 of file nav.c.

Referenced by nav_init().

nav_in_circle

bool nav_in_circle = false

Definition at line 66 of file nav.c.

Referenced by calculate_wind_no_airspeed(), nav_circle_XY(), nav_init_stage(), nav_periodic_task(), nav_route_xy(), nav_survey_rectangle(), and send_circle().

nav_in_segment

bool nav_in_segment = false

Definition at line 67 of file nav.c.

Referenced by nav_circle_XY(), nav_init_stage(), nav_route_xy(), nav_survey_rectangle(), and send_segment().

nav_leg_length

float nav_leg_length

static

length of the current leg (m)

Definition at line 64 of file nav.c.

Referenced by nav_glide_alt(), and nav_route_xy().

nav_leg_progress

float nav_leg_progress

static

Status on the current leg (percentage, 0.

< < 1.) in route mode

Definition at line 60 of file nav.c.

Referenced by nav_glide_alt(), and nav_route_xy().

nav_mode

int nav_mode

Definition at line 90 of file nav.c.

Referenced by fly_to_xy(), nav_circle_XY(), and nav_init().

nav_oval_count

uint8_t nav_oval_count

Navigation along a figure O.

One side leg is defined by waypoints [p1] and [p2]. The navigation goes through 4 states: OC1 (half circle next to [p1]), OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 (opposite leg).

Initial state is the route along the desired segment (OC2).

Definition at line 754 of file nav.c.

Referenced by nav_oval(), and nav_oval_init().

nav_pitch

float nav_pitch

Definition at line 310 of file nav.c.

Referenced by attitude_loop(), nav_home(), nav_without_gps(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_landing_loop(), and v_ctl_set_pitch().

nav_radius

float nav_radius

Definition at line 56 of file nav.c.

Referenced by nav_compute_baseleg(), nav_flower_run(), nav_init(), and parachute_compute_approach().

nav_segment_x_1

float nav_segment_x_1

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_route_xy(), and send_segment().

nav_segment_x_2

float nav_segment_x_2

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_route_xy(), and send_segment().

nav_segment_y_1

float nav_segment_y_1

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_route_xy(), and send_segment().

nav_segment_y_2

float nav_segment_y_2

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_route_xy(), and send_segment().

nav_shift

float nav_shift

Definition at line 56 of file nav.c.

Referenced by nav_circle_XY(), nav_init_stage(), and nav_route_xy().

nav_survey_active

bool nav_survey_active

Definition at line 88 of file nav.c.

Referenced by nav_periodic_task(), nav_survey_rectangle(), and send_survey().

nav_survey_east

float nav_survey_east

Definition at line 87 of file nav.c.

Referenced by nav_survey_rectangle(), nav_survey_rectangle_init(), and send_survey().

nav_survey_north

float nav_survey_north

Definition at line 87 of file nav.c.

Referenced by nav_survey_rectangle(), nav_survey_rectangle_init(), and send_survey().

nav_survey_shift

float nav_survey_shift

Definition at line 86 of file nav.c.

Referenced by nav_init(), nav_survey_disc_run(), nav_survey_disc_setup(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_rectangle(), and nav_survey_rectangle_init().

nav_survey_south

float nav_survey_south

Definition at line 87 of file nav.c.

Referenced by nav_survey_rectangle(), nav_survey_rectangle_init(), and send_survey().

nav_survey_west

float nav_survey_west

Definition at line 87 of file nav.c.

Referenced by nav_survey_rectangle(), nav_survey_rectangle_init(), and send_survey().

nav_throttle_setpoint

pprz_t nav_throttle_setpoint

Definition at line 309 of file nav.c.

Referenced by attitude_loop(), nav_without_gps(), and v_ctl_guidance_loop().

oval_status

enum oval_status oval_status

Definition at line 45 of file nav.c.

rc_pitch

float rc_pitch

Definition at line 49 of file nav.c.

unit

unit_t unit

static

Definition at line 31 of file nav.c.