nav_spiral_3D.h File Reference

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

#include "std.h"
#include "math/pprz_algebra_float.h"

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Functions
void	nav_spiral_3D_init (void)
bool	nav_spiral_3D_run (void)
	Run spiral 3D navigation.
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:

Detailed Description

Fixedwing navigation in a 3D spiral.

Definition in file nav_spiral_3D.h.

Function Documentation

nav_spiral_3D_init()

void nav_spiral_3D_init ( void  )

extern

Definition at line 117 of file nav_spiral_3D.c.

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

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nav_spiral_3D_run()

bool nav_spiral_3D_run ( void  )

extern

Run spiral 3D navigation.

Definition at line 185 of file nav_spiral_3D.c.

References NavSpiral3D::alt_start, NavSpiral3D::alt_stop, NavSpiral3D::center, float_vect2_norm(), foo, nav_circle_XY(), nav_dt, nav_spiral_3D, NAV_SPIRAL_3D_ALT_DIFF, NAV_SPIRAL_3D_DIST_DIFF, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, pos_diff, NavSpiral3D::pos_incr, NavSpiral3D::radius, NavSpiral3D::radius_increment, NavSpiral3D::radius_start, NavSpiral3D::radius_stop, Spiral3DCircle, Spiral3DFail, Spiral3DStart, stateGetPositionEnu_f(), stateGetPositionUtm_f(), NavSpiral3D::status, VECT2_DIFF, VECT3_ADD, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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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  )

extern

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, foo, 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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