Paparazzi UAS  v5.15_devel-112-g521f3cf
Paparazzi is a free software Unmanned Aircraft System.
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nav_smooth.h File Reference

Smooth navigation to wp_a along an arc (around wp_cd), a segment (from wp_rd to wp_ta) and a second arc (around wp_ca). More...

#include "std.h"
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Go to the source code of this file.

Functions

bool snav_init (uint8_t wp_a, float desired_course_rad, float radius)
 
bool snav_circle1 (void)
 
bool snav_route (void)
 
bool snav_circle2 (void)
 
bool snav_on_time (float radius)
 

Variables

float snav_desired_tow
 

Detailed Description

Smooth navigation to wp_a along an arc (around wp_cd), a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).

Definition in file nav_smooth.h.

Function Documentation

bool snav_circle1 ( void  )

Definition at line 121 of file nav_smooth.c.

References d_radius, nav_circle_XY(), NavQdrCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, and qdr_td.

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bool snav_circle2 ( void  )

Definition at line 140 of file nav_smooth.c.

References a_radius, nav_circle_XY(), NavQdrCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, and qdr_a.

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bool snav_init ( uint8_t  wp_a,
float  desired_course_rad,
float  radius 
)
bool snav_route ( void  )

Definition at line 130 of file nav_smooth.c.

References CARROT, nav_approaching_xy(), nav_route_xy(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, wp_ta, point::x, and point::y.

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Variable Documentation

float snav_desired_tow

Definition at line 44 of file nav_smooth.c.

Referenced by snav_on_time().