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navigation.h File Reference

Rotorcraft navigation functions. More...

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Macros

#define CARROT   0
 default approaching_time for a wp More...
 
#define NAV_FREQ   16
 
#define HORIZONTAL_MODE_WAYPOINT   0
 
#define HORIZONTAL_MODE_ROUTE   1
 
#define HORIZONTAL_MODE_CIRCLE   2
 
#define HORIZONTAL_MODE_ATTITUDE   3
 
#define HORIZONTAL_MODE_MANUAL   4
 
#define VERTICAL_MODE_MANUAL   0
 
#define VERTICAL_MODE_CLIMB   1
 
#define VERTICAL_MODE_ALT   2
 
#define GetPosX()   (stateGetPositionEnu_f()->x)
 Get current x (east) position in local coordinates. More...
 
#define GetPosY()   (stateGetPositionEnu_f()->y)
 Get current y (north) position in local coordinates. More...
 
#define GetPosAlt()   (stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)
 Get current altitude above MSL. More...
 
#define GetAltRef()   (state.ned_origin_f.hmsl)
 Get current altitude reference for local coordinates. More...
 
#define NormCourse(x)
 Normalize a degree angle between 0 and 359. More...
 
#define NavStartDetectGround()   ({ autopilot.detect_ground_once = true; false; })
 
#define NavDetectGround()   nav_detect_ground()
 
#define NavSetManual   nav_set_manual
 
#define NavSetFailsafe   nav_set_failsafe
 
#define NavSetGroundReferenceHere   nav_reset_reference
 
#define NavSetAltitudeReferenceHere   nav_reset_alt
 
#define NavSetWaypointHere   waypoint_set_here_2d
 
#define NavCopyWaypoint   waypoint_copy
 
#define NavCopyWaypointPositionOnly   waypoint_position_copy
 
#define NavApproaching(wp, time)   nav_approaching_from(&waypoints[wp].enu_i, NULL, time)
 
#define NavApproachingFrom(wp, from, time)   nav_approaching_from(&waypoints[wp].enu_i, &waypoints[from].enu_i, time)
 
#define NavCheckWaypointTime(wp, time)   nav_check_wp_time(&waypoints[wp].enu_i, time)
 
#define NavVerticalAutoThrottleMode(_pitch)
 Set the climb control to auto-throttle with the specified pitch pre-command. More...
 
#define NavVerticalAutoPitchMode(_throttle)   {}
 Set the climb control to auto-pitch with the specified throttle pre-command. More...
 
#define NavVerticalAltitudeMode(_alt, _pre_climb)
 Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command. More...
 
#define NavVerticalClimbMode(_climb)
 Set the vertical mode to climb control with the specified climb setpoint. More...
 
#define NavVerticalThrottleMode(_throttle)
 Set the vertical mode to fixed throttle with the specified setpoint. More...
 
#define NavHeading   nav_set_heading_rad
 Set the heading of the rotorcraft, nothing else. More...
 
#define NavAttitude(_roll)
 
#define NavCircleCount()   ((float)abs(nav_circle_radians) / INT32_ANGLE_2_PI)
 
#define NavCircleQdr()   ({ int32_t qdr = INT32_DEG_OF_RAD(INT32_ANGLE_PI_2 - nav_circle_qdr) >> INT32_ANGLE_FRAC; NormCourse(qdr); qdr; })
 
#define CloseDegAngles(_c1, _c2)   ({ int32_t _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff || _diff < 10; })
 
#define CloseRadAngles(_c1, _c2)   ({ float _diff = _c1 - _c2; NormRadAngle(_diff); fabsf(_diff) < 0.0177; })
 
#define NavQdrCloseTo(x)   CloseDegAngles(((x) >> INT32_ANGLE_FRAC), NavCircleQdr())
 True if x (in degrees) is close to the current QDR (less than 10 degrees) More...
 
#define NavCourseCloseTo(x)   {}
 
#define Oval(a, b, c)   nav_oval((b), (a), (c))
 
#define NavFollow   nav_follow
 
#define nav_IncreaseShift(x)   {}
 
#define nav_SetNavRadius(x)   {}
 
#define navigation_SetFlightAltitude(x)
 

Functions

void nav_init (void)
 Navigation Initialisation. More...
 
void nav_run (void)
 
void set_exception_flag (uint8_t flag_num)
 
float get_dist2_to_waypoint (uint8_t wp_id)
 Returns squared horizontal distance to given waypoint. More...
 
float get_dist2_to_point (struct EnuCoor_i *p)
 Returns squared horizontal distance to given point. More...
 
void compute_dist2_to_home (void)
 Computes squared distance to the HOME waypoint potentially sets too_far_from_home. More...
 
void nav_home (void)
 Home mode navigation (circle around HOME) More...
 
void nav_set_manual (int32_t roll, int32_t pitch, int32_t yaw)
 Set manual roll, pitch and yaw without stabilization. More...
 
void nav_reset_reference (void)
 Reset the geographic reference to the current GPS fix. More...
 
void nav_reset_alt (void)
 Reset the altitude reference to the current GPS alt. More...
 
void nav_periodic_task (void)
 Navigation main: call to the code generated from the XML flight plan. More...
 
bool nav_is_in_flight (void)
 
void nav_set_heading_rad (float rad)
 Set nav_heading in radians. More...
 
void nav_set_heading_deg (float deg)
 Set nav_heading in degrees. More...
 
void nav_set_heading_towards (float x, float y)
 Set heading to point towards x,y position in local coordinates. More...
 
void nav_set_heading_towards_waypoint (uint8_t wp)
 Set heading in the direction of a waypoint. More...
 
void nav_set_heading_towards_target (void)
 Set heading in the direction of the target. More...
 
void nav_set_heading_current (void)
 Set heading to the current yaw angle. More...
 
void nav_set_failsafe (void)
 
bool nav_detect_ground (void)
 
static void NavKillThrottle (void)
 
static void NavResurrect (void)
 
bool nav_approaching_from (struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_t approaching_time)
 Proximity tests on approaching a wp. More...
 
bool nav_check_wp_time (struct EnuCoor_i *wp, uint16_t stay_time)
 Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp. More...
 
void navigation_update_wp_from_speed (uint8_t wp, struct Int16Vect3 speed_sp, int16_t heading_rate_sp)
 
static void NavGotoWaypointHeading (uint8_t wp)
 
static void NavGotoWaypoint (uint8_t wp)
 
void nav_circle (struct EnuCoor_i *wp_center, int32_t radius)
 
static void NavCircleWaypoint (uint8_t wp_center, float radius)
 
void nav_oval_init (void)
 
void nav_oval (uint8_t, uint8_t, float)
 Navigation along a figure O. More...
 
void nav_route (struct EnuCoor_i *wp_start, struct EnuCoor_i *wp_end)
 
static void NavSegment (uint8_t wp_start, uint8_t wp_end)
 
static void NavGlide (uint8_t start_wp, uint8_t wp)
 Nav glide routine. More...
 
void nav_follow (uint8_t _ac_id, uint32_t distance, uint32_t height)
 

Variables

struct EnuCoor_i navigation_target
 
struct EnuCoor_i navigation_carrot
 
uint8_t last_wp
 Index of last waypoint. More...
 
uint8_t horizontal_mode
 
int32_t nav_circle_radius
 
int32_t nav_circle_qdr
 
int32_t nav_circle_radians
 Status on the current circle. More...
 
int32_t nav_roll
 
int32_t nav_pitch
 with INT32_ANGLE_FRAC More...
 
int32_t nav_heading
 with INT32_ANGLE_FRAC More...
 
int32_t nav_cmd_roll
 
int32_t nav_cmd_pitch
 
int32_t nav_cmd_yaw
 
float nav_radius
 
float nav_climb_vspeed
 
float nav_descend_vspeed
 
int32_t nav_leg_progress
 
uint32_t nav_leg_length
 
bool nav_survey_active
 
uint8_t vertical_mode
 
uint32_t nav_throttle
 direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL More...
 
int32_t nav_climb
 
int32_t nav_altitude
 
int32_t nav_flight_altitude
 
float flight_altitude
 Dynamically adjustable, reset to nav_altitude when it is changing. More...
 
float dist2_to_home
 squared distance to home waypoint More...
 
bool too_far_from_home
 
float failsafe_mode_dist2
 maximum squared distance to home wp before going to failsafe mode More...
 
float dist2_to_wp
 squared distance to next waypoint More...
 
bool exception_flag [10]
 
uint8_t nav_oval_count
 Navigation along a figure O. More...
 

Detailed Description

Rotorcraft navigation functions.

Definition in file navigation.h.

Macro Definition Documentation

#define CloseDegAngles (   _c1,
  _c2 
)    ({ int32_t _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff || _diff < 10; })

Definition at line 257 of file navigation.h.

#define CloseRadAngles (   _c1,
  _c2 
)    ({ float _diff = _c1 - _c2; NormRadAngle(_diff); fabsf(_diff) < 0.0177; })

Definition at line 258 of file navigation.h.

#define GetAltRef ( )    (state.ned_origin_f.hmsl)

Get current altitude reference for local coordinates.

This is the ground_alt from the flight plan at first, but might be updated later through a call to NavSetGroundReferenceHere() or NavSetAltitudeReferenceHere(), e.g. in the GeoInit flight plan block.

Definition at line 102 of file navigation.h.

#define GetPosAlt ( )    (stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)

Get current altitude above MSL.

Definition at line 95 of file navigation.h.

#define GetPosX ( )    (stateGetPositionEnu_f()->x)

Get current x (east) position in local coordinates.

Definition at line 91 of file navigation.h.

#define GetPosY ( )    (stateGetPositionEnu_f()->y)

Get current y (north) position in local coordinates.

Definition at line 93 of file navigation.h.

#define HORIZONTAL_MODE_ATTITUDE   3

Definition at line 56 of file navigation.h.

Referenced by guidance_h_from_nav(), and nav_heli_spinup_setup().

#define HORIZONTAL_MODE_CIRCLE   2

Definition at line 55 of file navigation.h.

Referenced by NavCircleWaypoint().

#define HORIZONTAL_MODE_MANUAL   4

Definition at line 57 of file navigation.h.

Referenced by guidance_h_from_nav(), nav_heli_spinup_run(), and nav_set_manual().

#define HORIZONTAL_MODE_ROUTE   1

Definition at line 54 of file navigation.h.

Referenced by NavSegment().

#define HORIZONTAL_MODE_WAYPOINT   0

Definition at line 53 of file navigation.h.

Referenced by NavGotoWaypoint(), and NavGotoWaypointHeading().

#define NAV_FREQ   16

Definition at line 43 of file navigation.h.

Referenced by nav_periodic_task(), and navigation_update_wp_from_speed().

#define nav_IncreaseShift (   x)    {}

Definition at line 295 of file navigation.h.

#define nav_SetNavRadius (   x)    {}

Definition at line 296 of file navigation.h.

#define NavApproaching (   wp,
  time 
)    nav_approaching_from(&waypoints[wp].enu_i, NULL, time)

Definition at line 166 of file navigation.h.

#define NavApproachingFrom (   wp,
  from,
  time 
)    nav_approaching_from(&waypoints[wp].enu_i, &waypoints[from].enu_i, time)

Definition at line 167 of file navigation.h.

#define NavAttitude (   _roll)
Value:
{ \
}
uint8_t horizontal_mode
Definition: nav.c:71
#define HORIZONTAL_MODE_ATTITUDE
Definition: navigation.h:56
#define ANGLE_BFP_OF_REAL(_af)
int32_t nav_roll
Definition: navigation.c:103

Definition at line 227 of file navigation.h.

#define NavCheckWaypointTime (   wp,
  time 
)    nav_check_wp_time(&waypoints[wp].enu_i, time)

Definition at line 171 of file navigation.h.

#define NavCircleCount ( )    ((float)abs(nav_circle_radians) / INT32_ANGLE_2_PI)

Definition at line 254 of file navigation.h.

#define NavCircleQdr ( )    ({ int32_t qdr = INT32_DEG_OF_RAD(INT32_ANGLE_PI_2 - nav_circle_qdr) >> INT32_ANGLE_FRAC; NormCourse(qdr); qdr; })

Definition at line 255 of file navigation.h.

#define NavCopyWaypoint   waypoint_copy

Definition at line 160 of file navigation.h.

#define NavCopyWaypointPositionOnly   waypoint_position_copy

Definition at line 161 of file navigation.h.

#define NavCourseCloseTo (   x)    {}

Definition at line 261 of file navigation.h.

#define NavDetectGround ( )    nav_detect_ground()

Definition at line 139 of file navigation.h.

#define NavFollow   nav_follow

Definition at line 287 of file navigation.h.

#define NavHeading   nav_set_heading_rad

Set the heading of the rotorcraft, nothing else.

Definition at line 225 of file navigation.h.

#define navigation_SetFlightAltitude (   x)
Value:
{ \
}
struct LtpDef_f ned_origin_f
Definition of the local (flat earth) coordinate system.
Definition: state.h:220
#define POS_BFP_OF_REAL(_af)
int32_t nav_flight_altitude
Definition: navigation.c:111
float flight_altitude
Dynamically adjustable, reset to nav_altitude when it is changing.
Definition: nav.c:75
float hmsl
Height above mean sea level in meters.
struct State state
Definition: state.c:36

Definition at line 297 of file navigation.h.

#define NavQdrCloseTo (   x)    CloseDegAngles(((x) >> INT32_ANGLE_FRAC), NavCircleQdr())

True if x (in degrees) is close to the current QDR (less than 10 degrees)

Definition at line 260 of file navigation.h.

#define NavSetAltitudeReferenceHere   nav_reset_alt

Definition at line 157 of file navigation.h.

#define NavSetFailsafe   nav_set_failsafe

Definition at line 153 of file navigation.h.

#define NavSetGroundReferenceHere   nav_reset_reference

Definition at line 156 of file navigation.h.

#define NavSetManual   nav_set_manual

Definition at line 152 of file navigation.h.

#define NavSetWaypointHere   waypoint_set_here_2d

Definition at line 159 of file navigation.h.

Referenced by stereocam_droplet_periodic().

#define NavStartDetectGround ( )    ({ autopilot.detect_ground_once = true; false; })

Definition at line 138 of file navigation.h.

#define NavVerticalAltitudeMode (   _alt,
  _pre_climb 
)
Value:
{ \
}
#define POS_BFP_OF_REAL(_af)
uint8_t vertical_mode
Definition: sim_ap.c:35
int32_t nav_altitude
Definition: nav.c:305
#define VERTICAL_MODE_ALT
Definition: navigation.h:75

Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command.

Definition at line 207 of file navigation.h.

Referenced by NavGlide().

#define NavVerticalAutoPitchMode (   _throttle)    {}

Set the climb control to auto-pitch with the specified throttle pre-command.

Definition at line 203 of file navigation.h.

#define NavVerticalAutoThrottleMode (   _pitch)
Value:
{ \
}
#define ANGLE_BFP_OF_REAL(_af)
int32_t nav_pitch
with INT32_ANGLE_FRAC
Definition: nav.c:308

Set the climb control to auto-throttle with the specified pitch pre-command.

Definition at line 197 of file navigation.h.

#define NavVerticalClimbMode (   _climb)
Value:
{ \
}
uint8_t vertical_mode
Definition: sim_ap.c:35
int32_t nav_climb
Definition: nav.c:57
#define SPEED_BFP_OF_REAL(_af)
#define VERTICAL_MODE_CLIMB
Definition: navigation.h:74

Set the vertical mode to climb control with the specified climb setpoint.

Definition at line 213 of file navigation.h.

#define NavVerticalThrottleMode (   _throttle)
Value:
{ \
nav_throttle = _throttle; \
}
uint32_t nav_throttle
direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL
Definition: navigation.c:110
uint8_t vertical_mode
Definition: sim_ap.c:35
#define VERTICAL_MODE_MANUAL
Definition: navigation.h:73

Set the vertical mode to fixed throttle with the specified setpoint.

Definition at line 219 of file navigation.h.

#define NormCourse (   x)
Value:
{ \
while (x < 0) x += 360; \
while (x >= 360) x -= 360; \
}

Normalize a degree angle between 0 and 359.

Definition at line 106 of file navigation.h.

#define Oval (   a,
  b,
 
)    nav_oval((b), (a), (c))

Definition at line 267 of file navigation.h.

#define VERTICAL_MODE_ALT   2

Definition at line 75 of file navigation.h.

Referenced by guidance_v_from_nav(), nav_home(), nav_init(), and NavGotoWaypointHeading().

#define VERTICAL_MODE_CLIMB   1

Definition at line 74 of file navigation.h.

Referenced by guidance_v_from_nav().

#define VERTICAL_MODE_MANUAL   0

Definition at line 73 of file navigation.h.

Referenced by guidance_v_from_nav(), nav_heli_spinup_run(), and nav_heli_spinup_setup().

Function Documentation

void compute_dist2_to_home ( void  )

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Updates dist2_to_home and potentially sets too_far_from_home

Definition at line 473 of file navigation.c.

float get_dist2_to_point ( struct EnuCoor_i p)

Returns squared horizontal distance to given point.

Definition at line 455 of file navigation.c.

References POS_FLOAT_OF_BFP, stateGetPositionEnu_f(), FloatVect2::x, EnuCoor_f::x, EnuCoor_i::x, FloatVect2::y, EnuCoor_f::y, and EnuCoor_i::y.

Referenced by get_dist2_to_waypoint(), nav_circle(), nav_goto(), and nav_route().

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float get_dist2_to_waypoint ( uint8_t  wp_id)

Returns squared horizontal distance to given waypoint.

Definition at line 465 of file navigation.c.

Referenced by NavGotoWaypoint(), and NavGotoWaypointHeading().

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bool nav_approaching_from ( struct EnuCoor_i wp,
struct EnuCoor_i from,
int16_t  approaching_time 
)
bool nav_check_wp_time ( struct EnuCoor_i wp,
uint16_t  stay_time 
)

Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp.

Definition at line 301 of file navigation.c.

References ARRIVED_AT_WAYPOINT, autopilot, pprz_autopilot::flight_time, float_vect2_norm(), INT_VECT3_ZERO, POS_FLOAT_OF_BFP, stateGetPositionEnu_i(), VECT2_DIFF, EnuCoor_i::x, Int32Vect2::x, EnuCoor_i::y, and Int32Vect2::y.

Referenced by mission_nav_path(), mission_nav_segment(), and mission_nav_wp().

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bool nav_detect_ground ( void  )

Definition at line 408 of file navigation.c.

References autopilot, and pprz_autopilot::ground_detected.

void nav_follow ( uint8_t  _ac_id,
uint32_t  distance,
uint32_t  height 
)

Definition at line 738 of file navigation.c.

void nav_home ( void  )

Home mode navigation (circle around HOME)

Home mode navigation (circle around HOME)

Nominal speed

Nominal speed

Nominal speed

Definition at line 422 of file nav.c.

void nav_init ( void  )

Navigation Initialisation.

Definition at line 530 of file nav.c.

bool nav_is_in_flight ( void  )

Definition at line 415 of file navigation.c.

void nav_oval ( uint8_t  p1,
uint8_t  p2,
float  radius 
)

Navigation along a figure O.

One side leg is defined by waypoints [p1] and [p2]. The navigation goes through 4 states: OC1 (half circle next to [p1]), OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 (opposite leg). Initial state is the route along the desired segment (OC2).

Definition at line 733 of file nav.c.

References point::a, ANGLE_BFP_OF_REAL, CARROT, InitStage, INT32_ANGLE_PI, int32_atan2_2(), INT32_DEG_OF_RAD, LINE_START_FUNCTION, LINE_STOP_FUNCTION, nav_approaching_from(), nav_approaching_xy(), nav_circle(), nav_circle_XY(), nav_oval_count, nav_route(), nav_route_xy(), NavQdrCloseTo, OC1, OC2, OR12, OR21, POS_BFP_OF_REAL, waypoints, point::x, and point::y.

Referenced by nav_register_oval().

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void nav_oval_init ( void  )

Definition at line 727 of file nav.c.

References nav_oval_count, and OC2.

Referenced by nav_register_oval().

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void nav_periodic_task ( void  )

Navigation main: call to the code generated from the XML flight plan.

Definition at line 443 of file nav.c.

void nav_reset_alt ( void  )

Reset the altitude reference to the current GPS alt.

Definition at line 355 of file navigation.c.

void nav_reset_reference ( void  )

Reset the geographic reference to the current GPS fix.

Definition at line 348 of file navigation.c.

void nav_run ( void  )

Definition at line 243 of file navigation.c.

void nav_set_failsafe ( void  )

Definition at line 528 of file navigation.c.

void nav_set_heading_current ( void  )

Set heading to the current yaw angle.

Definition at line 523 of file navigation.c.

void nav_set_heading_deg ( float  deg)

Set nav_heading in degrees.

Definition at line 491 of file navigation.c.

void nav_set_heading_rad ( float  rad)

Set nav_heading in radians.

Definition at line 484 of file navigation.c.

void nav_set_heading_towards ( float  x,
float  y 
)

Set heading to point towards x,y position in local coordinates.

Definition at line 497 of file navigation.c.

void nav_set_heading_towards_target ( void  )

Set heading in the direction of the target.

Definition at line 516 of file navigation.c.

void nav_set_heading_towards_waypoint ( uint8_t  wp)

Set heading in the direction of a waypoint.

Definition at line 510 of file navigation.c.

Referenced by NavGotoWaypointHeading().

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void nav_set_manual ( int32_t  roll,
int32_t  pitch,
int32_t  yaw 
)

Set manual roll, pitch and yaw without stabilization.

Parameters
[in]rollcommand in pprz scale (int32_t)
[in]pitchcommand in pprz scale (int32_t)
[in]yawcommand in pprz scale (int32_t)

This function allows to directly set commands from the flight plan, if in nav_manual mode. This is for instance useful for helicopters during the spinup

Definition at line 446 of file navigation.c.

References horizontal_mode, HORIZONTAL_MODE_MANUAL, nav_cmd_pitch, nav_cmd_roll, and nav_cmd_yaw.

static void NavCircleWaypoint ( uint8_t  wp_center,
float  radius 
)
inlinestatic

Definition at line 248 of file navigation.h.

References HORIZONTAL_MODE_CIRCLE, nav_circle(), POS_BFP_OF_REAL, and waypoints.

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static void NavGlide ( uint8_t  start_wp,
uint8_t  wp 
)
inlinestatic

Nav glide routine.

Definition at line 278 of file navigation.h.

References nav_leg_progress, NavVerticalAltitudeMode, POS_FLOAT_OF_BFP, and waypoints.

static void NavGotoWaypoint ( uint8_t  wp)
inlinestatic

Definition at line 239 of file navigation.h.

References get_dist2_to_waypoint(), HORIZONTAL_MODE_WAYPOINT, navigation_target, VECT3_COPY, and waypoints.

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static void NavGotoWaypointHeading ( uint8_t  wp)
inlinestatic

Definition at line 180 of file navigation.h.

References get_dist2_to_waypoint(), HORIZONTAL_MODE_WAYPOINT, nav_set_heading_towards_waypoint(), navigation_target, VECT3_COPY, VERTICAL_MODE_ALT, and waypoints.

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void navigation_update_wp_from_speed ( uint8_t  wp,
struct Int16Vect3  speed_sp,
int16_t  heading_rate_sp 
)
static void NavKillThrottle ( void  )
inlinestatic

Definition at line 142 of file navigation.h.

References AP_MODE_NAV, autopilot_get_mode(), autopilot_set_motors_on(), and FALSE.

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static void NavResurrect ( void  )
inlinestatic

Definition at line 146 of file navigation.h.

References AP_MODE_NAV, autopilot_get_mode(), autopilot_set_motors_on(), and TRUE.

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static void NavSegment ( uint8_t  wp_start,
uint8_t  wp_end 
)
inlinestatic

Definition at line 271 of file navigation.h.

References HORIZONTAL_MODE_ROUTE, nav_route(), and waypoints.

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void set_exception_flag ( uint8_t  flag_num)

Definition at line 128 of file navigation.c.

Variable Documentation

float dist2_to_home

squared distance to home waypoint

Definition at line 82 of file navigation.c.

float dist2_to_wp

squared distance to next waypoint

Definition at line 85 of file navigation.c.

bool exception_flag[10]

Definition at line 94 of file navigation.c.

Referenced by set_exception_flag().

float failsafe_mode_dist2

maximum squared distance to home wp before going to failsafe mode

Definition at line 81 of file navigation.c.

Referenced by autopilot_static_periodic().

float flight_altitude

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 75 of file nav.c.

Referenced by formation_flight(), nav_init(), and nav_set_altitude().

uint8_t last_wp

Index of last waypoint.

Used only in "go" stage in "route" horiz mode

Definition at line 48 of file nav.c.

int32_t nav_circle_qdr

Definition at line 116 of file navigation.c.

Referenced by nav_circle().

int32_t nav_circle_radians

Status on the current circle.

Definition at line 54 of file nav.c.

Referenced by nav_circle(), and nav_init_stage().

int32_t nav_circle_radius

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_circle(), and send_circle().

int32_t nav_climb

Definition at line 57 of file nav.c.

Referenced by guidance_v_from_nav(), and nav_init().

float nav_climb_vspeed

Definition at line 107 of file navigation.c.

Referenced by nav_init().

float nav_descend_vspeed

Definition at line 107 of file navigation.c.

Referenced by nav_init().

int32_t nav_flight_altitude

Definition at line 111 of file navigation.c.

Referenced by fc_read_msg(), guidance_v_from_nav(), nav_home(), nav_init(), and nav_set_altitude().

uint32_t nav_leg_length

Definition at line 99 of file navigation.c.

Referenced by nav_init(), and nav_route().

int32_t nav_leg_progress

Definition at line 98 of file navigation.c.

Referenced by nav_init(), nav_route(), and NavGlide().

uint8_t nav_oval_count

Navigation along a figure O.

One side leg is defined by waypoints [p1] and [p2]. The navigation goes through 4 states: OC1 (half circle next to [p1]), OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 (opposite leg).

Initial state is the route along the desired segment (OC2).

Definition at line 725 of file nav.c.

Referenced by nav_oval(), and nav_oval_init().

float nav_radius

Definition at line 57 of file nav.c.

Referenced by nav_compute_baseleg(), nav_flower_run(), and nav_init().

int32_t nav_roll

Definition at line 103 of file navigation.c.

Referenced by guidance_h_from_nav(), and nav_init().

bool nav_survey_active
uint32_t nav_throttle

direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL

Definition at line 110 of file navigation.c.

Referenced by guidance_v_from_nav(), nav_heli_spinup_run(), nav_heli_spinup_setup(), and nav_init().

struct EnuCoor_i navigation_carrot
bool too_far_from_home

Definition at line 83 of file navigation.c.

uint8_t vertical_mode