nav_trinity.c File Reference

#include "modules/nav/nav_trinity.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
#include "modules/core/abi.h"

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Data Structures
struct	NavTrinity

Macros
#define	NAV_TRINITY_RECOVER_MAX_TURN   1.5f
#define	NAV_TRINITY_BORDER_FILTER   20.f
#define	NAV_TRINITY_LWC_ID   ABI_BROADCAST

Enumerations
enum	TrinityStatus {   TRINITY_ENTER , TRINITY_INSIDE_FIRST , TRINITY_INSIDE , TRINITY_OUTSIDE_START ,   TRINITY_OUTSIDE , TRINITY_RECOVER_START , TRINITY_RECOVER_INSIDE , TRINITY_RECOVER_OUTSIDE }
enum	RotationDir { TRINITY_LEFT , TRINITY_RIGHT }

Functions
static float	change_rep (float dir)
static struct EnuCoor_f	process_new_point_trinity (struct EnuCoor_f *position, float alt_sp, float uav_direction)
static struct EnuCoor_f	process_first_point_trinity (struct EnuCoor_f *position, float alt_sp, float uav_direction)
static void	update_target_point (struct EnuCoor_f *target, struct EnuCoor_f *border, float dt, float tau)
static void	lwc_cb (uint8_t sender_id UNUSED, uint32_t stamp UNUSED, int32_t data_type, uint32_t size, uint8_t *data)
void	nav_trinity_init (void)
	Init function called by modules init.
void	nav_trinity_setup (float init_x, float init_y, float init_z, int turn, float desired_radius, float vx, float vy, float vz)
	Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters.
bool	nav_trinity_run (void)
	Navigation function Called by flight plan or mission run function.

Variables
static struct NavTrinity	nav_trinity
static const float	nav_dt = 1.f / NAVIGATION_FREQUENCY
static abi_event	lwc_ev

Detailed Description

Author

Titouan Verdu Adaptative trinity pattern for cloud exploration.

Definition in file nav_trinity.c.

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Data Structure Documentation

NavTrinity

struct NavTrinity

Definition at line 60 of file nav_trinity.c.

Collaboration diagram for NavTrinity:

Data Fields
struct EnuCoor_f	actual
struct EnuCoor_f	circle
float	direction
struct EnuCoor_f	estim_border
bool	inside_cloud
float	last_border_time
float	max_recover_radius
struct FloatVect3	pos_incr
float	radius
float	radius_sign
struct EnuCoor_f	recover_circle
float	recover_radius
enum RotationDir	rotation
enum TrinityStatus	status
struct EnuCoor_f	target

Macro Definition Documentation

NAV_TRINITY_BORDER_FILTER

#define NAV_TRINITY_BORDER_FILTER   20.f

Definition at line 41 of file nav_trinity.c.

NAV_TRINITY_LWC_ID

#define NAV_TRINITY_LWC_ID   ABI_BROADCAST

Definition at line 178 of file nav_trinity.c.

NAV_TRINITY_RECOVER_MAX_TURN

#define NAV_TRINITY_RECOVER_MAX_TURN   1.5f

Definition at line 37 of file nav_trinity.c.

Enumeration Type Documentation

RotationDir

enum RotationDir

Enumerator
TRINITY_LEFT
TRINITY_RIGHT

Definition at line 55 of file nav_trinity.c.

TrinityStatus

enum TrinityStatus

Enumerator
TRINITY_ENTER
TRINITY_INSIDE_FIRST
TRINITY_INSIDE
TRINITY_OUTSIDE_START
TRINITY_OUTSIDE
TRINITY_RECOVER_START
TRINITY_RECOVER_INSIDE
TRINITY_RECOVER_OUTSIDE

Definition at line 44 of file nav_trinity.c.

Function Documentation

change_rep()

static float change_rep ( float  dir )

static

Definition at line 82 of file nav_trinity.c.

References dir, and foo.

Referenced by nav_trinity_run().

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lwc_cb()

static void lwc_cb ( uint8_t sender_id  UNUSED, uint32_t stamp  UNUSED, int32_t  data_type, uint32_t  size, uint8_t *  data  )

static

Definition at line 183 of file nav_trinity.c.

References foo, NavTrinity::inside_cloud, and nav_trinity.

Referenced by nav_trinity_init().

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nav_trinity_init()

void nav_trinity_init

(

void

)

Init function called by modules init.

Definition at line 189 of file nav_trinity.c.

References DEFAULT_CIRCLE_RADIUS, foo, NavTrinity::inside_cloud, NavTrinity::last_border_time, lwc_cb(), lwc_ev, NavTrinity::max_recover_radius, mission_register(), nav_trinity, NAV_TRINITY_LWC_ID, NavTrinity::radius, NavTrinity::recover_radius, NavTrinity::status, and TRINITY_ENTER.

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nav_trinity_run()

bool nav_trinity_run

(

void

)

Navigation function Called by flight plan or mission run function.

Returns

true until pattern ends or fail

Definition at line 230 of file nav_trinity.c.

References NavTrinity::actual, change_rep(), NavTrinity::circle, NavTrinity::direction, NavTrinity::estim_border, foo, get_sys_time_float(), ground_alt, NavTrinity::inside_cloud, NavTrinity::last_border_time, NavTrinity::max_recover_radius, nav_circle_XY(), nav_dt, nav_init_stage(), nav_move_waypoint_enu(), nav_route_xy(), nav_send_waypoint(), nav_trinity, NAV_TRINITY_BORDER_FILTER, NAV_TRINITY_RECOVER_MAX_TURN, NavCircleCountNoRewind, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NavTrinity::pos_incr, process_first_point_trinity(), process_new_point_trinity(), NavTrinity::radius, NavTrinity::radius_sign, NavTrinity::recover_circle, NavTrinity::recover_radius, stateGetHorizontalSpeedDir_f(), stateGetPositionEnu_f(), NavTrinity::status, NavTrinity::target, time, TRINITY_ENTER, TRINITY_INSIDE, TRINITY_INSIDE_FIRST, TRINITY_OUTSIDE, TRINITY_OUTSIDE_START, TRINITY_RECOVER_INSIDE, TRINITY_RECOVER_OUTSIDE, TRINITY_RECOVER_START, update_target_point(), VECT3_ADD, EnuCoor_f::x, EnuCoor_f::y, FloatVect3::z, and EnuCoor_f::z.

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nav_trinity_setup()

void nav_trinity_setup	(	float	init_x,
		float	init_y,
		float	init_z,
		int	turn,
		float	desired_radius,
		float	vx,
		float	vy,
		float	vz
	)

Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters.

Definition at line 205 of file nav_trinity.c.

References NavTrinity::actual, foo, NavTrinity::inside_cloud, nav_dt, nav_trinity, NavTrinity::pos_incr, NavTrinity::radius, NavTrinity::radius_sign, NavTrinity::rotation, stateGetPositionEnu_f(), NavTrinity::status, NavTrinity::target, TRINITY_ENTER, TRINITY_LEFT, TRINITY_RIGHT, and VECT3_ASSIGN.

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process_first_point_trinity()

static struct EnuCoor_f process_first_point_trinity ( struct EnuCoor_f *  position, float  alt_sp, float  uav_direction  )

static

Definition at line 105 of file nav_trinity.c.

References foo, nav_trinity, process_new_point_trinity(), NavTrinity::rotation, TRINITY_LEFT, and TRINITY_RIGHT.

Referenced by nav_trinity_run().

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process_new_point_trinity()

static struct EnuCoor_f process_new_point_trinity ( struct EnuCoor_f *  position, float  alt_sp, float  uav_direction  )

static

Definition at line 87 of file nav_trinity.c.

References foo, nav_trinity, NavTrinity::radius, NavTrinity::rotation, TRINITY_RIGHT, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by nav_trinity_run(), and process_first_point_trinity().

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update_target_point()

static void update_target_point ( struct EnuCoor_f *  target, struct EnuCoor_f *  border, float  dt, float  tau  )

static

Definition at line 116 of file nav_trinity.c.

References alpha, foo, and target.

Referenced by nav_trinity_run().

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Variable Documentation

lwc_ev

abi_event lwc_ev

static

Definition at line 181 of file nav_trinity.c.

Referenced by nav_trinity_init().

nav_dt

const float nav_dt = 1.f / NAVIGATION_FREQUENCY

static

Definition at line 80 of file nav_trinity.c.

Referenced by nav_trinity_run(), and nav_trinity_setup().

nav_trinity

struct NavTrinity nav_trinity

static

Definition at line 78 of file nav_trinity.c.

Referenced by lwc_cb(), nav_trinity_init(), nav_trinity_run(), nav_trinity_setup(), process_first_point_trinity(), and process_new_point_trinity().