Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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nav_spiral.c File Reference

Fixedwing navigation in a spiral/helix. More...

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

Go to the source code of this file.

Macros

#define NAV_SPIRAL_MIN_CIRCLE_RADIUS   60
 

Functions

void nav_spiral_setup (uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments)
 
bool nav_spiral_run (void)
 

Variables

struct NavSpiral nav_spiral
 

Detailed Description

Fixedwing navigation in a spiral/helix.

creating a helix:

  • start radius to end radius, increasing after reaching alphamax
  • Alphamax is calculated from given segments
  • IMPORTANT: numer of segments has to be larger than 2!

Definition in file nav_spiral.c.

Macro Definition Documentation

#define NAV_SPIRAL_MIN_CIRCLE_RADIUS   60

Definition at line 45 of file nav_spiral.c.

Referenced by nav_spiral_setup().

Function Documentation

Variable Documentation

struct NavSpiral nav_spiral

Definition at line 48 of file nav_spiral.c.

Referenced by nav_spiral_run(), and nav_spiral_setup().