Paparazzi UAS  v5.15_devel-111-g8fb4629
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
nav_drop.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2007-2009 ENAC, Pascal Brisset, Antoine Drouin
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
29 #ifndef NAV_DROP_H
30 #define NAV_DROP_H
31 
32 #include "std.h"
34 
35 extern unit_t nav_drop_compute_approach(uint8_t wp_target, uint8_t wp_start, uint8_t wp_baseturn, uint8_t wp_climbout,
36  float radius);
37 extern unit_t nav_drop_update_release(uint8_t wp_target);
38 extern unit_t nav_drop_shoot(void);
40 extern bool compute_alignment(uint8_t w1, uint8_t w2, uint8_t start, uint8_t end, float d_before, float d_after);
41 
42 #define NavDropComputeApproach(_target, _start, _radius) nav_drop_compute_approach(_target, _start, _radius)
43 #define NavDropUpdateRelease(_wp) nav_drop_update_release(_wp)
44 #define NavDropShoot() nav_drop_shoot()
45 #define NavDropCloseHatch() ({ imcu_set_command(COMMAND_HATCH, MIN_PPRZ); })
46 #define NavDropAligned() Qdr(DegOfRad(nav_drop_qdr_aligned))
47 
48 #endif // NAV_DROP_H
unsigned char uint8_t
Definition: types.h:14