Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
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nav_flower.c File Reference

from OSAM advanced navigation routines More...

#include "modules/nav/nav_flower.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
+ Include dependency graph for nav_flower.c:

Go to the source code of this file.

Enumerations

enum  FlowerStatus { Outside, FlowerLine, Circle }
 Makes a flower pattern. More...
 

Functions

void nav_flower_init (void)
 
void nav_flower_setup (uint8_t CenterWP, uint8_t EdgeWP)
 
bool nav_flower_run (void)
 

Variables

static enum FlowerStatus CFlowerStatus
 
static float CircleX
 
static float CircleY
 
static float Fly2X
 
static float Fly2Y
 
static float FlyFromX
 
static float FlyFromY
 
static float TransCurrentX
 
static float TransCurrentY
 
static float EdgeCurrentX
 
static float EdgeCurrentY
 
static float DistanceFromCenter
 
static float FlowerTheta
 
static float Flowerradius
 
static uint8_t Center
 
static uint8_t Edge
 

Detailed Description

from OSAM advanced navigation routines

Definition in file nav_flower.c.

Enumeration Type Documentation

Makes a flower pattern.

CenterWP is the center of the flower. The Navigation Height is taken from this waypoint. EdgeWP defines the radius of the flower (distance from CenterWP to EdgeWP)

Enumerator
Outside 
FlowerLine 
Circle 

Definition at line 67 of file nav_flower.c.

Function Documentation

void nav_flower_init ( void  )

Definition at line 53 of file nav_flower.c.

References mission_register().

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void nav_flower_setup ( uint8_t  CenterWP,
uint8_t  EdgeWP 
)

Definition at line 85 of file nav_flower.c.

References FlowerLine, Outside, stateGetPositionEnu_f(), WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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Variable Documentation

uint8_t Center
static

Definition at line 82 of file nav_flower.c.

enum FlowerStatus CFlowerStatus
static

Definition at line 68 of file nav_flower.c.

float CircleX
static

Definition at line 69 of file nav_flower.c.

float CircleY
static

Definition at line 70 of file nav_flower.c.

float DistanceFromCenter
static

Definition at line 79 of file nav_flower.c.

uint8_t Edge
static

Definition at line 83 of file nav_flower.c.

float EdgeCurrentX
static

Definition at line 77 of file nav_flower.c.

float EdgeCurrentY
static

Definition at line 78 of file nav_flower.c.

float Flowerradius
static

Definition at line 81 of file nav_flower.c.

Referenced by nav_flower_run().

float FlowerTheta
static

Definition at line 80 of file nav_flower.c.

float Fly2X
static

Definition at line 71 of file nav_flower.c.

float Fly2Y
static

Definition at line 72 of file nav_flower.c.

float FlyFromX
static

Definition at line 73 of file nav_flower.c.

float FlyFromY
static

Definition at line 74 of file nav_flower.c.

float TransCurrentX
static

Definition at line 75 of file nav_flower.c.

float TransCurrentY
static

Definition at line 76 of file nav_flower.c.