nav_rosette.c File Reference

Adaptive flower pattern for cloud exploration. More...

#include "modules/nav/nav_rosette.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
#include "modules/core/abi.h"

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Data Structures
struct	NavRosette

Macros
#define	NAV_ROSETTE_RECOVER_MAX_TURN   1.5f
#define	NAV_ROSETTE_BORDER_FILTER   60.f
#define	NAV_ROSETTE_LWC_ID   ABI_BROADCAST

Enumerations
enum	RosetteStatus {   RSTT_ENTER , RSTT_CROSSING_FIRST , RSTT_CROSSING_START , RSTT_CROSSING ,   RSTT_TURNING_START , RSTT_TURNING , RSTT_RECOVER_START , RSTT_RECOVER_OUTSIDE }
enum	RotationDir { RSTT_LEFT , RSTT_RIGHT }

Functions
static float	change_rep (float dir)
static void	update_barycenter (struct EnuCoor_f *bary, struct EnuCoor_f *border, struct EnuCoor_f *first, float alt_sp, float dt, float tau)
static struct EnuCoor_f	process_new_point_rosette (struct EnuCoor_f *position, float uav_direction)
static void	lwc_cb (uint8_t sender_id UNUSED, uint32_t stamp UNUSED, int32_t data_type, uint32_t size, uint8_t *data)
void	nav_rosette_init (void)
	Init function called by modules init.
void	nav_rosette_setup (float init_x, float init_y, float init_z, int turn, float desired_radius, float vx, float vy, float vz)
	Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters.
bool	nav_rosette_run (void)
	Navigation function Called by flight plan or mission run function.

Variables
static struct NavRosette	nav_rosette
static const float	nav_dt = 1.f / NAVIGATION_FREQUENCY
static abi_event	lwc_ev

Detailed Description

Adaptive flower pattern for cloud exploration.

Definition in file nav_rosette.c.

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Data Structure Documentation

NavRosette

struct NavRosette

Definition at line 60 of file nav_rosette.c.

Collaboration diagram for NavRosette:

Data Fields
struct EnuCoor_f	actual
struct EnuCoor_f	circle
float	direction
struct EnuCoor_f	estim_border
struct EnuCoor_f *	first
bool	inside_cloud
float	last_border_time
float	max_recover_radius
struct FloatVect3	pos_incr
float	radius
float	radius_sign
struct EnuCoor_f	recover_circle
float	recover_radius
enum RotationDir	rotation
enum RosetteStatus	status
struct EnuCoor_f	target

Macro Definition Documentation

NAV_ROSETTE_BORDER_FILTER

#define NAV_ROSETTE_BORDER_FILTER   60.f

Definition at line 41 of file nav_rosette.c.

NAV_ROSETTE_LWC_ID

#define NAV_ROSETTE_LWC_ID   ABI_BROADCAST

Definition at line 179 of file nav_rosette.c.

NAV_ROSETTE_RECOVER_MAX_TURN

#define NAV_ROSETTE_RECOVER_MAX_TURN   1.5f

Definition at line 37 of file nav_rosette.c.

Enumeration Type Documentation

RosetteStatus

enum RosetteStatus

Enumerator
RSTT_ENTER
RSTT_CROSSING_FIRST
RSTT_CROSSING_START
RSTT_CROSSING
RSTT_TURNING_START
RSTT_TURNING
RSTT_RECOVER_START
RSTT_RECOVER_OUTSIDE

Definition at line 44 of file nav_rosette.c.

RotationDir

enum RotationDir

Enumerator
RSTT_LEFT
RSTT_RIGHT

Definition at line 55 of file nav_rosette.c.

Function Documentation

change_rep()

static float change_rep ( float  dir )

static

Definition at line 83 of file nav_rosette.c.

References dir, and foo.

Referenced by nav_rosette_run().

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lwc_cb()

static void lwc_cb ( uint8_t sender_id  UNUSED, uint32_t stamp  UNUSED, int32_t  data_type, uint32_t  size, uint8_t *  data  )

static

Definition at line 184 of file nav_rosette.c.

References foo, NavRosette::inside_cloud, and nav_rosette.

Referenced by nav_rosette_init().

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nav_rosette_init()

void nav_rosette_init

(

void

)

Init function called by modules init.

Definition at line 191 of file nav_rosette.c.

References DEFAULT_CIRCLE_RADIUS, foo, NavRosette::inside_cloud, NavRosette::last_border_time, lwc_cb(), lwc_ev, NavRosette::max_recover_radius, mission_register(), nav_rosette, NAV_ROSETTE_LWC_ID, NavRosette::radius, NavRosette::recover_radius, RSTT_ENTER, and NavRosette::status.

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nav_rosette_run()

bool nav_rosette_run

(

void

)

Navigation function Called by flight plan or mission run function.

Returns

true until pattern ends or fail

Definition at line 233 of file nav_rosette.c.

References NavRosette::actual, change_rep(), NavRosette::circle, NavRosette::direction, NavRosette::estim_border, NavRosette::first, foo, get_sys_time_float(), ground_alt, NavRosette::inside_cloud, NavRosette::last_border_time, NavRosette::max_recover_radius, nav_circle_XY(), nav_dt, nav_init_stage(), nav_move_waypoint_enu(), nav_rosette, NAV_ROSETTE_BORDER_FILTER, NAV_ROSETTE_RECOVER_MAX_TURN, nav_route_xy(), nav_send_waypoint(), NavCircleCountNoRewind, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NavRosette::pos_incr, process_new_point_rosette(), NavRosette::radius, NavRosette::radius_sign, NavRosette::recover_circle, NavRosette::recover_radius, RSTT_CROSSING, RSTT_CROSSING_FIRST, RSTT_CROSSING_START, RSTT_ENTER, RSTT_RECOVER_OUTSIDE, RSTT_RECOVER_START, RSTT_TURNING, RSTT_TURNING_START, stateGetHorizontalSpeedDir_f(), stateGetPositionEnu_f(), NavRosette::status, NavRosette::target, time, update_barycenter(), VECT3_ADD, EnuCoor_f::x, EnuCoor_f::y, FloatVect3::z, and EnuCoor_f::z.

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nav_rosette_setup()

void nav_rosette_setup	(	float	init_x,
		float	init_y,
		float	init_z,
		int	turn,
		float	desired_radius,
		float	vx,
		float	vy,
		float	vz
	)

Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters.

Definition at line 207 of file nav_rosette.c.

References NavRosette::actual, NavRosette::first, foo, get_sys_time_float(), NavRosette::inside_cloud, NavRosette::last_border_time, nav_dt, nav_rosette, NavRosette::pos_incr, NavRosette::radius, NavRosette::radius_sign, NavRosette::rotation, RSTT_ENTER, RSTT_LEFT, RSTT_RIGHT, stateGetPositionEnu_f(), NavRosette::status, NavRosette::target, and VECT3_ASSIGN.

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process_new_point_rosette()

static struct EnuCoor_f process_new_point_rosette ( struct EnuCoor_f *  position, float  uav_direction  )

static

Definition at line 105 of file nav_rosette.c.

References foo, NavRosette::inside_cloud, nav_rosette, NavRosette::radius, NavRosette::rotation, RSTT_RIGHT, NavRosette::target, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by nav_rosette_run().

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update_barycenter()

static void update_barycenter ( struct EnuCoor_f *  bary, struct EnuCoor_f *  border, struct EnuCoor_f *  first, float  alt_sp, float  dt, float  tau  )

static

Definition at line 88 of file nav_rosette.c.

References alpha, NavRosette::first, foo, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by nav_rosette_run().

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Variable Documentation

lwc_ev

abi_event lwc_ev

static

Definition at line 182 of file nav_rosette.c.

Referenced by nav_rosette_init().

nav_dt

const float nav_dt = 1.f / NAVIGATION_FREQUENCY

static

Definition at line 81 of file nav_rosette.c.

Referenced by nav_rosette_run(), and nav_rosette_setup().

nav_rosette

struct NavRosette nav_rosette

static

Definition at line 79 of file nav_rosette.c.

Referenced by lwc_cb(), nav_rosette_init(), nav_rosette_run(), nav_rosette_setup(), and process_new_point_rosette().