nav_takeoff_and_landing_fw.c File Reference

#include "modules/nav/nav_takeoff_and_landing.h"
#include "math/pprz_geodetic_float.h"
#include "generated/flight_plan.h"
#include "firmwares/fixedwing/nav.h"
#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "autopilot.h"

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Macros
#define	NAV_TAKEOFF_PITCH   15.f
#define	NAV_TAKEOFF_THROTTLE   1.f
#define	NAV_TAKEOFF_HEIGHT   20.f
#define	NAV_TAKEOFF_DIST   200.f
#define	NAV_TAKEOFF_AUTO_LAUNCH   true
#define	NAV_LANDING_DESCEND_SPEED   -1.f
#define	NAV_LANDING_AF_HEIGHT   30.f
#define	NAV_LANDING_FLARE_HEIGHT   10.f

Functions
static bool	nav_takeoff_run (void)
static bool	nav_land_run (void)
void	nav_takeoff_and_landing_init (void)
	Init function. More...
void	nav_takeoff_and_landing_periodic (void)
	Periodic timeout check function. More...
bool	nav_takeoff_from_wp (uint8_t wp_id)
	Takeoff from a waypoint. More...
bool	nav_takeoff_from_loc (float lat, float lon)
	Takeoff from lat long location. More...
bool	nav_takeoff_from_here (void)
	Takeoff from current location. More...
bool	nav_land_at_wp (uint8_t td_id, uint8_t af_id, float radius)
	Land at waypoint location. More...
bool	nav_land_at_loc (float td_alt, float lat, float lon, float dir, float dist, float radius)
	Land at lat long location. More...
bool	nav_land_here (float td_alt, float radius)
	Land at current location. More...

Variables
static struct nav_takeoff	takeoff
static struct nav_landing	landing
float	nav_takeoff_direction
	Takeoff direction in range [0-360] (deg) set to flight plan QFU by default. More...

Detailed Description

Author

Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Navigation routines for takeoff and landing Basic procedures for fixed-wing

Definition in file nav_takeoff_and_landing_fw.c.

Macro Definition Documentation

NAV_LANDING_AF_HEIGHT

#define NAV_LANDING_AF_HEIGHT   30.f

Definition at line 59 of file nav_takeoff_and_landing_fw.c.

NAV_LANDING_DESCEND_SPEED

#define NAV_LANDING_DESCEND_SPEED   -1.f

Definition at line 55 of file nav_takeoff_and_landing_fw.c.

NAV_LANDING_FLARE_HEIGHT

#define NAV_LANDING_FLARE_HEIGHT   10.f

Definition at line 63 of file nav_takeoff_and_landing_fw.c.

NAV_TAKEOFF_AUTO_LAUNCH

#define NAV_TAKEOFF_AUTO_LAUNCH   true

Definition at line 51 of file nav_takeoff_and_landing_fw.c.

NAV_TAKEOFF_DIST

#define NAV_TAKEOFF_DIST   200.f

Definition at line 47 of file nav_takeoff_and_landing_fw.c.

NAV_TAKEOFF_HEIGHT

#define NAV_TAKEOFF_HEIGHT   20.f

Definition at line 43 of file nav_takeoff_and_landing_fw.c.

NAV_TAKEOFF_PITCH

#define NAV_TAKEOFF_PITCH   15.f

Definition at line 35 of file nav_takeoff_and_landing_fw.c.

NAV_TAKEOFF_THROTTLE

#define NAV_TAKEOFF_THROTTLE   1.f

Definition at line 39 of file nav_takeoff_and_landing_fw.c.

Function Documentation

nav_land_at_loc()

bool nav_land_at_loc	(	float	td_alt,
		float	lat,
		float	lon,
		float	dir,
		float	dist,
		float	radius
	)

Land at lat long location.

Parameters

[in]	td_alt	touch down altitude above ground ref (m)
[in]	lat	landing latitude (deg)
[in]	lon	landing longitude (deg)
[in]	dir	direction approach direction ([0-360], deg)
[in]	dist	distance to start descent (m)
[in]	radius	circle radius for final turn (if positive: turn right, if negative: turn left) (m)

Returns

true until procedure is completed

Definition at line 343 of file nav_takeoff_and_landing_fw.c.

References nav_landing::af_id, nav_landing::af_pos, dir, ENU_OF_UTM_DIFF, GetAltRef, landing, LlaCoor_f::lat, LlaCoor_f::lon, nav_land_run(), NAV_LANDING_AF_HEIGHT, NAV_LANDING_INIT, nav_landing::radius, state, nav_landing::status, nav_landing::td_id, nav_landing::td_pos, utm_of_lla_f(), State::utm_origin_f, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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nav_land_at_wp()

bool nav_land_at_wp	(	uint8_t	td_id,
		uint8_t	af_id,
		float	radius
	)

Land at waypoint location.

set touch down (TD) and start of descent (AF)

• rotorcraft: if TD and AF id are the same, vertical landing

Parameters

[in]	td_id	waypoint ID for touch down point
[in]	af_if	waypoint ID for start of descent
[in]	radius	circle radius for final turn (if positive: turn right, if negative: turn left) (m)

Returns

true until procedure is completed

Definition at line 326 of file nav_takeoff_and_landing_fw.c.

References nav_landing::af_id, nav_landing::af_pos, GetAltRef, landing, nav_land_run(), NAV_LANDING_AF_HEIGHT, NAV_LANDING_INIT, nav_landing::radius, nav_landing::status, nav_landing::td_id, nav_landing::td_pos, WaypointAlt, WaypointX, WaypointY, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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nav_land_here()

bool nav_land_here	(	float	td_alt,
		float	radius
	)

Land at current location.

emergency landing

• fixedwing: circle down around current location
• rotorcraft: vertical landing at current location

Parameters

[in]	td_alt	touch down altitude above ground ref (m)
[in]	radius	circle radius for final turn (if positive: turn right, if negative: turn left) (m)

Returns

true until procedure is completed

Definition at line 361 of file nav_takeoff_and_landing_fw.c.

References nav_landing::af_id, nav_landing::af_pos, landing, nav_land_run(), NAV_LANDING_AF_HEIGHT, NAV_LANDING_INIT, nav_landing::radius, stateGetPositionEnu_f(), nav_landing::status, nav_landing::td_id, nav_landing::td_pos, and EnuCoor_f::z.

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nav_land_run()

static bool nav_land_run ( void  )

static

Definition at line 230 of file nav_takeoff_and_landing_fw.c.

References point::a, nav_landing::af_pos, baseleg_out_qdr, CARROT, CloseRadAngles, GetAltRef, GetPosAlt, landing, nav_approaching_xy(), nav_circle_trigo_qdr, nav_glide_alt(), NAV_LANDING_DESCEND_SPEED, NAV_LANDING_DESCENT, NAV_LANDING_DONE, NAV_LANDING_FLARE, NAV_LANDING_FLARE_HEIGHT, NAV_LANDING_INIT, NAV_LANDING_REACH_AF, nav_route_xy(), NavCircleCount, NavCircleWaypoint, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NavVerticalClimbMode, NavVerticalThrottleMode, NormCourseRad, nav_landing::radius, nav_landing::status, nav_landing::td_pos, nav_landing::timeout, WaypointAlt, waypoints, EnuCoor_f::x, point::x, EnuCoor_f::y, point::y, and EnuCoor_f::z.

Referenced by nav_land_at_loc(), nav_land_at_wp(), and nav_land_here().

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nav_takeoff_and_landing_init()

void nav_takeoff_and_landing_init

(

void

)

Init function.

Definition at line 117 of file nav_takeoff_and_landing_fw.c.

nav_takeoff_and_landing_periodic()

void nav_takeoff_and_landing_periodic

(

void

)

Periodic timeout check function.

Definition at line 135 of file nav_takeoff_and_landing_fw.c.

nav_takeoff_from_here()

bool nav_takeoff_from_here

(

void

)

Takeoff from current location.

• fixedwing: climb direction is specified with setting
• rotorcraft: start from current location and climb verticaly

Returns

true until procedure is completed

Definition at line 215 of file nav_takeoff_and_landing_fw.c.

Referenced by nav_takeoff_from_loc().

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nav_takeoff_from_loc()

bool nav_takeoff_from_loc	(	float	lat,
		float	lon
	)

Takeoff from lat long location.

• fixedwing: set the climb direction
• rotorcraft: start from current location and climb verticaly (lat, lon have no effect)

Parameters

[in]	lat	takeoff latitude (deg)
[in]	lon	takeoff longitude (deg)

Returns

true until procedure is completed

Definition at line 204 of file nav_takeoff_and_landing_fw.c.

References LlaCoor_f::alt, nav_takeoff::climb_pos, ENU_OF_UTM_DIFF, LlaCoor_f::lat, LlaCoor_f::lon, nav_takeoff_from_here(), NAV_TAKEOFF_HEIGHT, NAV_TAKEOFF_INIT, state, stateGetPositionLla_f(), nav_takeoff::status, takeoff, utm_of_lla_f(), and State::utm_origin_f.

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nav_takeoff_from_wp()

bool nav_takeoff_from_wp

(

uint8_t

wp_id

)

Takeoff from a waypoint.

• fixedwing: set the climb direction
• rotorcraft: set the wp at current location and climb verticaly

Parameters

[in]

wp_id

waypoint ID

Returns

true until procedure is completed

Definition at line 191 of file nav_takeoff_and_landing_fw.c.

nav_takeoff_run()

static bool nav_takeoff_run ( void  )

static

Definition at line 149 of file nav_takeoff_and_landing_fw.c.

References autopilot, autopilot_get_motors_on(), autopilot_set_motors_on(), CARROT, nav_takeoff::climb_pos, pprz_autopilot::launch, MAX_PPRZ, nav_approaching_xy(), NAV_TAKEOFF_CLIMB, NAV_TAKEOFF_DONE, NAV_TAKEOFF_HEIGHT, NAV_TAKEOFF_INIT, NAV_TAKEOFF_PITCH, NAV_TAKEOFF_START_MOTOR, NAV_TAKEOFF_THROTTLE, NavGotoPoint, NAVIGATION_FREQUENCY, NavVerticalAutoThrottleMode, NavVerticalThrottleMode, nav_takeoff::start_pos, stateGetPositionEnu_f(), nav_takeoff::status, takeoff, nav_takeoff::timeout, TRIM_UPPRZ, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by nav_takeoff_from_here(), and nav_takeoff_from_wp().

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Variable Documentation

landing

struct nav_landing landing

static

Definition at line 1 of file nav_takeoff_and_landing_fw.c.

Referenced by nav_land_at_loc(), nav_land_at_wp(), nav_land_here(), nav_land_run(), nav_takeoff_and_landing_init(), and nav_takeoff_and_landing_periodic().

nav_takeoff_direction

float nav_takeoff_direction

Takeoff direction in range [0-360] (deg) set to flight plan QFU by default.

Definition at line 72 of file nav_takeoff_and_landing_fw.c.

Referenced by nav_takeoff_and_landing_init(), and nav_takeoff_from_here().

takeoff

struct nav_takeoff takeoff

static

Definition at line 1 of file nav_takeoff_and_landing_fw.c.

Referenced by nav_takeoff_and_landing_init(), nav_takeoff_and_landing_periodic(), nav_takeoff_from_here(), nav_takeoff_from_loc(), nav_takeoff_from_wp(), and nav_takeoff_run().