nav_rover_base.h File Reference

#include "firmwares/rover/navigation.h"

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Data Structures
struct	RoverNavGoto
	Waypoint and route pattern. More...
struct	RoverNavCircle
	Circle pattern. More...
struct	RoverNavOval
struct	RoverNavBase
	Basic Nav struct. More...

Macros
#define	ROVER_BASE_SEND_TRAJECTORY   TRUE
#define	NavCircleCount()   (fabsf(nav_rover_base.circle.radians) / (2*M_PI))
	Macros for circle nav. More...
#define	NavCircleQdr()   ({ float qdr = DegOfRad(M_PI_2 - nav_rover_base.circle.qdr); NormCourse(qdr); qdr; })
#define	CloseDegAngles(_c1, _c2)   ({ float _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff || _diff < 10; })
#define	CloseRadAngles(_c1, _c2)   ({ float _diff = _c1 - _c2; NormRadAngle(_diff); fabsf(_diff) < 0.0177; })
#define	NavQdrCloseTo(x)   CloseDegAngles(x, NavCircleQdr())
	True if x (in degrees) is close to the current QDR (less than 10 degrees) More...
#define	NavCourseCloseTo(x)   CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))

Enumerations
enum	oval_status {   OR12 , OC2 , OR21 , OC1 ,   OR12 , OC2 , OR21 , OC1 ,   OR12 , OC2 , OR21 , OC1 }
	Oval pattern. More...

Functions
void	nav_rover_init (void)
	Init and register nav functions. More...

Variables
struct RoverNavBase	nav_rover_base

Detailed Description

Author

2018 Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Basic navigation functions for Rovers

Definition in file nav_rover_base.h.

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Data Structure Documentation

RoverNavGoto

struct RoverNavGoto

Waypoint and route pattern.

Definition at line 38 of file nav_rover_base.h.

Collaboration diagram for RoverNavGoto:

Data Fields
float	dist2_to_wp	squared distance to next waypoint
struct EnuCoor_f	from	start WP position
float	leg_length	leg length
float	leg_progress	progress over leg
struct EnuCoor_f	to	end WP position

RoverNavCircle

struct RoverNavCircle

Circle pattern.

Definition at line 48 of file nav_rover_base.h.

Collaboration diagram for RoverNavCircle:

Data Fields
struct EnuCoor_f	center	center WP position
float	qdr	qdr in radians
float	radians	incremental angular distance
float	radius	radius in meters

RoverNavOval

struct RoverNavOval

Definition at line 58 of file nav_rover_base.h.

Data Fields
uint8_t	count	number of laps
enum oval_status	status	oval status

RoverNavBase

struct RoverNavBase

Basic Nav struct.

Definition at line 65 of file nav_rover_base.h.

Collaboration diagram for RoverNavBase:

Data Fields
struct RoverNavCircle	circle
struct RoverNavGoto	goto_wp
struct RoverNavOval	oval

Macro Definition Documentation

CloseDegAngles

#define CloseDegAngles	(		_c1,
			_c2
	)		({ float _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff || _diff < 10; })

Definition at line 81 of file nav_rover_base.h.

CloseRadAngles

#define CloseRadAngles	(		_c1,
			_c2
	)		({ float _diff = _c1 - _c2; NormRadAngle(_diff); fabsf(_diff) < 0.0177; })

Definition at line 82 of file nav_rover_base.h.

NavCircleCount

#define NavCircleCount

(

)

(fabsf(nav_rover_base.circle.radians) / (2*M_PI))

Macros for circle nav.

Definition at line 78 of file nav_rover_base.h.

NavCircleQdr

#define NavCircleQdr

(

)

({ float qdr = DegOfRad(M_PI_2 - nav_rover_base.circle.qdr); NormCourse(qdr); qdr; })

Definition at line 79 of file nav_rover_base.h.

NavCourseCloseTo

#define NavCourseCloseTo

(

x

)

CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))

Definition at line 87 of file nav_rover_base.h.

NavQdrCloseTo

#define NavQdrCloseTo

(

x

)

CloseDegAngles(x, NavCircleQdr())

True if x (in degrees) is close to the current QDR (less than 10 degrees)

Definition at line 86 of file nav_rover_base.h.

ROVER_BASE_SEND_TRAJECTORY

#define ROVER_BASE_SEND_TRAJECTORY   TRUE

Definition at line 33 of file nav_rover_base.h.

Enumeration Type Documentation

oval_status

enum oval_status

Oval pattern.

Enumerator
OR12
OC2
OR21
OC1
OR12
OC2
OR21
OC1
OR12
OC2
OR21
OC1

Definition at line 57 of file nav_rover_base.h.

Function Documentation

nav_rover_init()

void nav_rover_init

(

void

)

Init and register nav functions.

Definition at line 291 of file nav_rover_base.c.

References _nav_oval_init(), RoverNavBase::circle, DEFAULT_CIRCLE_RADIUS, DefaultPeriodic, RoverNavBase::goto_wp, RoverNavGoto::leg_length, RoverNavGoto::leg_progress, nav_approaching(), nav_circle(), nav_goto(), nav_oval(), nav_register_circle(), nav_register_goto_wp(), nav_register_oval(), nav_route(), nav_rover_base, RoverNavCircle::radius, register_periodic_telemetry(), and send_nav_status().

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Variable Documentation

nav_rover_base

struct RoverNavBase nav_rover_base

extern

Definition at line 1 of file nav_rover_base.c.

Referenced by _nav_oval_init(), nav_circle(), nav_goto(), nav_route(), nav_rover_init(), and send_nav_status().