#include "firmwares/rover/navigation.h"

Include dependency graph for nav_rover_base.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.

#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)

#define	NavCourseCloseTo(x) CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))

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

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

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.

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

Definition at line 57 of file nav_rover_base.h.

Function Documentation

◆ nav_rover_init()

void nav_rover_init ( void )

extern

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, foo, 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_register_stage_init(), nav_route(), nav_rover_base, nav_stage_init(), RoverNavCircle::radius, register_periodic_telemetry(), and send_nav_status().

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Variable Documentation

◆ nav_rover_base

struct RoverNavBase nav_rover_base