Fixedwing navigation in a 3D spiral. More...

#include "modules/nav/nav_spiral_3D.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"

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Go to the source code of this file.

Data Structures
struct	NavSpiral3D

Macros
#define	NAV_SPIRAL_3D_DIST_DIFF 10.f

#define	NAV_SPIRAL_3D_ALT_DIFF 10.f

#define	NAV_SPIRAL_3D_MIN_CIRCLE_RADIUS 50.f

Enumerations
enum	Spiral3DStatus { Spiral3DStart , Spiral3DCircle , Spiral3DFail }

Functions
void	nav_spiral_3D_init (void)

void	nav_spiral_3D_setup (float center_x, float center_y, float alt_start, float alt_stop, float radius_start, float radius_stop, float vx, float vy, float vz)
	Initialize spiral 3D based on: More...

bool	nav_spiral_3D_run (void)
	Run spiral 3D navigation. More...

Variables
struct NavSpiral3D	nav_spiral_3D

static const float	nav_dt = 1.f / NAVIGATION_FREQUENCY

Detailed Description

Fixedwing navigation in a 3D spiral.

Definition in file nav_spiral_3D.c.

Data Structure Documentation

◆ NavSpiral3D

struct NavSpiral3D

Definition at line 49 of file nav_spiral_3D.c.

Collaboration diagram for NavSpiral3D:

Data Fields
float	alt_start
float	alt_stop
struct FloatVect3	center
struct FloatVect3	pos_incr
float	radius
float	radius_increment
float	radius_min
float	radius_start
float	radius_stop
enum Spiral3DStatus	status

Macro Definition Documentation

◆ NAV_SPIRAL_3D_ALT_DIFF

#define NAV_SPIRAL_3D_ALT_DIFF 10.f

Definition at line 40 of file nav_spiral_3D.c.

◆ NAV_SPIRAL_3D_DIST_DIFF

#define NAV_SPIRAL_3D_DIST_DIFF 10.f

Definition at line 36 of file nav_spiral_3D.c.

◆ NAV_SPIRAL_3D_MIN_CIRCLE_RADIUS

#define NAV_SPIRAL_3D_MIN_CIRCLE_RADIUS 50.f

Definition at line 44 of file nav_spiral_3D.c.

Enumeration Type Documentation

◆ Spiral3DStatus

enum Spiral3DStatus

Enumerator
Spiral3DStart
Spiral3DCircle
Spiral3DFail

Definition at line 47 of file nav_spiral_3D.c.

Function Documentation

◆ nav_spiral_3D_init()

void nav_spiral_3D_init ( void )

Definition at line 117 of file nav_spiral_3D.c.

References FLOAT_VECT3_ZERO, mission_register(), nav_spiral_3D, and NavSpiral3D::pos_incr.

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◆ nav_spiral_3D_run()

bool nav_spiral_3D_run ( void )

Run spiral 3D navigation.

Definition at line 185 of file nav_spiral_3D.c.

◆ nav_spiral_3D_setup()

void nav_spiral_3D_setup	(	float	center_x,
		float	center_y,
		float	alt_start,
		float	alt_stop,
		float	radius_start,
		float	radius_stop,
		float	vx,
		float	vy,
		float	vz
	)

Initialize spiral 3D based on:

position X, Y
start and stop altitude
start and stop radius
speeds (horizontal and vertical)

Definition at line 127 of file nav_spiral_3D.c.

References NavSpiral3D::alt_start, NavSpiral3D::alt_stop, NavSpiral3D::center, nav_dt, nav_spiral_3D, NAV_SPIRAL_3D_MIN_CIRCLE_RADIUS, NavSpiral3D::pos_incr, NavSpiral3D::radius, NavSpiral3D::radius_increment, NavSpiral3D::radius_min, NavSpiral3D::radius_start, NavSpiral3D::radius_stop, sign(), Spiral3DFail, Spiral3DStart, NavSpiral3D::status, VECT3_ASSIGN, and FloatVect3::z.

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Variable Documentation

◆ nav_dt

const float nav_dt = 1.f / NAVIGATION_FREQUENCY

static

Definition at line 64 of file nav_spiral_3D.c.

Referenced by nav_spiral_3D_setup().

◆ nav_spiral_3D

struct NavSpiral3D nav_spiral_3D

Definition at line 1 of file nav_spiral_3D.c.

Referenced by nav_spiral_3D_init(), and nav_spiral_3D_setup().

Data Structures

Macros

Enumerations

Functions

Variables