Rotorcraft navigation functions. More...

#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
#include "state.h"
#include "modules/nav/waypoints.h"
#include "modules/nav/common_flight_plan.h"
#include "autopilot.h"
#include "generated/airframe.h"

Include dependency graph for navigation.h:

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Data Structures
struct	RotorcraftNavigation
	General Navigation structure. More...

Macros
#define	DEFAULT_CIRCLE_RADIUS 5.f
	default nav_circle_radius in meters

#define	NAV_CLIMB_VSPEED 0.5f

#define	NAV_DESCEND_VSPEED -0.8f

#define	ARRIVED_AT_WAYPOINT 3.0f
	minimum horizontal distance to waypoint to mark as arrived

#define	FAILSAFE_MODE_DISTANCE (1.2*MAX_DIST_FROM_HOME)
	Maximum distance from HOME waypoint before going into failsafe mode.

#define	NAV_CARROT_DIST 12
	Carrot distance during navigation.

#define	CARROT 0
	default approaching_time for a wp

#define	NAVIGATION_FREQUENCY 20
	default navigation frequency

#define	NAV_HORIZONTAL_MODE_WAYPOINT 0
	Nav modes these modes correspond to the flight plan instructions used to set the high level navigation.

#define	NAV_HORIZONTAL_MODE_ROUTE 1

#define	NAV_HORIZONTAL_MODE_CIRCLE 2

#define	NAV_HORIZONTAL_MODE_ATTITUDE 3

#define	NAV_HORIZONTAL_MODE_NONE 4

#define	NAV_HORIZONTAL_MODE_GUIDED 5

#define	NAV_VERTICAL_MODE_MANUAL 0

#define	NAV_VERTICAL_MODE_CLIMB 1

#define	NAV_VERTICAL_MODE_ALT 2

#define	NAV_VERTICAL_MODE_GUIDED 3

#define	NAV_SETPOINT_MODE_POS 0
	Nav setpoint modes these modes correspond to submodes defined by navigation routines to tell which setpoint should be considered.

#define	NAV_SETPOINT_MODE_SPEED 1

#define	NAV_SETPOINT_MODE_ACCEL 2

#define	NAV_SETPOINT_MODE_ATTITUDE 3

#define	NAV_SETPOINT_MODE_QUAT 4

#define	NAV_SETPOINT_MODE_RATE 5

#define	NAV_SETPOINT_MODE_MANUAL 6

#define	GetPosX() (stateGetPositionEnu_f()->x)
	Get current x (east) position in local coordinates.

#define	GetPosY() (stateGetPositionEnu_f()->y)
	Get current y (north) position in local coordinates.

#define	GetPosAlt() (stateGetPositionEnu_f()->z+stateGetHmslOrigin_f())
	Get current altitude above MSL.

#define	GetPosHeight() (stateGetPositionEnu_f()->z)
	Get current height above reference.

#define	GetAltRef() (stateGetHmslOrigin_f())
	Get current altitude reference for local coordinates.

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

#define	NavDetectGround() nav_detect_ground()

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

#define	NavAttitude(_roll)

#define	NavVerticalAutoThrottleMode(_pitch)
	Set the climb control to auto-throttle with the specified pitch pre-command.

#define	NavVerticalAltitudeMode(_alt, _pre_climb)
	Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command.

#define	NavVerticalClimbMode(_climb)
	Set the vertical mode to climb control with the specified climb setpoint.

#define	NavVerticalThrottleMode(_throttle)
	Set the vertical mode to fixed throttle with the specified setpoint.

#define	NavHeading nav_set_heading_rad
	Set the heading of the rotorcraft, nothing else.

#define	NavSetMaxSpeed(_speed)
	Set maximum speed.

#define	nav_IncreaseShift(x) {}

#define	nav_SetNavRadius(x) {}

#define	navigation_SetFlightAltitude(x)

#define	NavVerticalAutoPitchMode(_throttle) {}
	Unused compat macros.

#define	NavFollow(_i, _d, _h) {}

Typedefs
typedef void(*	navigation_stage_init) (void)

typedef void(*	navigation_goto) (struct EnuCoor_f *wp)

typedef void(*	navigation_route) (struct EnuCoor_f wp_start, struct EnuCoor_f wp_end)

typedef bool(*	navigation_approaching) (struct EnuCoor_f wp_to, struct EnuCoor_f wp_from, float approaching_time)

typedef void(*	navigation_circle) (struct EnuCoor_f *wp_center, float radius)

typedef void(*	navigation_oval_init) (void)

typedef void(*	navigation_oval) (struct EnuCoor_f wp1, struct EnuCoor_f wp2, float radius)

Functions
void	nav_register_stage_init (navigation_stage_init nav_stage_init)
	Registering functions.

void	nav_register_goto_wp (navigation_goto nav_goto, navigation_route nav_route, navigation_approaching nav_approaching)
	Register functions.

void	nav_register_circle (navigation_circle nav_circle)

void	nav_register_oval (navigation_oval_init _nav_oval_init, navigation_oval nav_oval)

void	nav_init (void)
	Navigation Initialisation.

void	nav_run (void)

void	nav_parse_BLOCK (uint8_t *buf)

void	nav_parse_MOVE_WP (uint8_t *buf)

float	get_dist2_to_waypoint (uint8_t wp_id)
	Returns squared horizontal distance to given waypoint.

float	get_dist2_to_point (struct EnuCoor_f *p)
	Returns squared horizontal distance to given point.

void	compute_dist2_to_home (void)
	Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

void	nav_home (void)
	Home mode navigation (circle around HOME)

void	nav_reset_reference (void)
	Reset the geographic reference to the current GPS fix.

void	nav_reset_alt (void)
	Reset the altitude reference to the current GPS alt.

void	nav_periodic_task (void)
	Navigation main: call to the code generated from the XML flight plan.

bool	nav_is_in_flight (void)

void	nav_glide_points (struct EnuCoor_f start_point, struct EnuCoor_f end_point)

void	nav_set_heading_rad (float rad)
	heading utility functions

void	nav_set_heading_deg (float deg)
	Set nav_heading in degrees.

void	nav_set_heading_towards (float x, float y)
	Set heading to point towards x,y position in local coordinates.

void	nav_set_heading_towards_waypoint (uint8_t wp)
	Set heading in the direction of a waypoint.

void	nav_set_heading_towards_target (void)
	Set heading in the direction of the target.

void	nav_set_heading_current (void)
	Set heading to the current yaw angle.

void	nav_set_failsafe (void)

bool	nav_detect_ground (void)

static void	NavKillThrottle (void)

static void	NavResurrect (void)

bool	nav_check_wp_time (struct EnuCoor_f *wp, uint16_t stay_time)
	Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp

static void	NavGotoWaypoint (uint8_t wp)

static void	NavSegment (uint8_t wp_start, uint8_t wp_end)

static bool	NavApproaching (uint8_t wp, float approaching_time)

static bool	NavApproachingFrom (uint8_t to, uint8_t from, float approaching_time)

static void	NavCircleWaypoint (uint8_t wp_center, float radius)

static void	nav_oval_init (void)

static void	Oval (uint8_t wp1, uint8_t wp2, float radius)

static void	NavGlide (uint8_t wp_start, uint8_t wp_end)
	Nav glide routine.

Variables
struct RotorcraftNavigation	nav

float	flight_altitude
	Dynamically adjustable, reset to nav_altitude when it is changing.

Detailed Description

Rotorcraft navigation functions.

Definition in file navigation.h.

Data Structure Documentation

◆ RotorcraftNavigation

struct RotorcraftNavigation

General Navigation structure.

Definition at line 119 of file navigation.h.

Collaboration diagram for RotorcraftNavigation:

Data Fields
struct EnuCoor_f	accel	accel setpoint (in m/s)
struct EnuCoor_f	carrot	carrot position (also used for GCS display)
float	climb	climb setpoint (in m/s)
float	climb_vspeed	climb speed setting, mostly used in flight plans
float	descend_vspeed	descend speed setting, mostly used in flight plans
float	dist2_to_home	squared distance to home waypoint
float	failsafe_mode_dist2	maximum squared distance to home wp before going to failsafe mode
float	fp_altitude	altitude setpoint from flight plan (in meters)
float	fp_max_speed	maximum speed setpoint from flight plan (in m/s), negative value means unset or invalid, do not use
float	heading	heading setpoint (in radians)
uint8_t	horizontal_mode
float	nav_altitude	current altitude setpoint (in meters): might differ from fp_altitude depending on altitude shift from operator
navigation_approaching	nav_approaching
navigation_circle	nav_circle
navigation_goto	nav_goto
navigation_oval	nav_oval
navigation_oval_init	nav_oval_init
navigation_route	nav_route
navigation_stage_init	nav_stage_init
float	pitch	pitch angle (in radians)
struct FloatQuat	quat	quaternion setpoint
float	radius	radius setpoint (in meters)
struct FloatRates	rates	rates setpoint (in rad/s)
float	roll	roll angle (in radians)
uint8_t	setpoint_mode
struct EnuCoor_f	speed	speed setpoint (in m/s)
struct EnuCoor_f	target	final target position (in meters)
uint32_t	throttle	throttle command (in pprz_t)
bool	too_far_from_home	too_far flag
uint8_t	vertical_mode

Macro Definition Documentation

◆ ARRIVED_AT_WAYPOINT

#define ARRIVED_AT_WAYPOINT 3.0f

minimum horizontal distance to waypoint to mark as arrived

Definition at line 55 of file navigation.h.

◆ CARROT

#define CARROT 0

default approaching_time for a wp

Definition at line 70 of file navigation.h.

◆ DEFAULT_CIRCLE_RADIUS

#define DEFAULT_CIRCLE_RADIUS 5.f

default nav_circle_radius in meters

Definition at line 42 of file navigation.h.

◆ FAILSAFE_MODE_DISTANCE

#define FAILSAFE_MODE_DISTANCE (1.2*MAX_DIST_FROM_HOME)

Maximum distance from HOME waypoint before going into failsafe mode.

Definition at line 60 of file navigation.h.

◆ GetAltRef

#define GetAltRef ( ) (stateGetHmslOrigin_f())

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 192 of file navigation.h.

◆ GetPosAlt

#define GetPosAlt ( ) (stateGetPositionEnu_f()->z+stateGetHmslOrigin_f())

Get current altitude above MSL.

Definition at line 183 of file navigation.h.

◆ GetPosHeight

#define GetPosHeight ( ) (stateGetPositionEnu_f()->z)

Get current height above reference.

Definition at line 185 of file navigation.h.

◆ GetPosX

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

Get current x (east) position in local coordinates.

Definition at line 179 of file navigation.h.

◆ GetPosY

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

Get current y (north) position in local coordinates.

Definition at line 181 of file navigation.h.

◆ NAV_CARROT_DIST

#define NAV_CARROT_DIST 12

Carrot distance during navigation.

Definition at line 65 of file navigation.h.

◆ NAV_CLIMB_VSPEED

#define NAV_CLIMB_VSPEED 0.5f

Definition at line 46 of file navigation.h.

◆ NAV_DESCEND_VSPEED

#define NAV_DESCEND_VSPEED -0.8f

Definition at line 50 of file navigation.h.

◆ NAV_HORIZONTAL_MODE_ATTITUDE

#define NAV_HORIZONTAL_MODE_ATTITUDE 3

Definition at line 88 of file navigation.h.

◆ NAV_HORIZONTAL_MODE_CIRCLE

#define NAV_HORIZONTAL_MODE_CIRCLE 2

Definition at line 87 of file navigation.h.

◆ NAV_HORIZONTAL_MODE_GUIDED

#define NAV_HORIZONTAL_MODE_GUIDED 5

Definition at line 90 of file navigation.h.

◆ NAV_HORIZONTAL_MODE_NONE

#define NAV_HORIZONTAL_MODE_NONE 4

Definition at line 89 of file navigation.h.

◆ NAV_HORIZONTAL_MODE_ROUTE

#define NAV_HORIZONTAL_MODE_ROUTE 1

Definition at line 86 of file navigation.h.

◆ NAV_HORIZONTAL_MODE_WAYPOINT

#define NAV_HORIZONTAL_MODE_WAYPOINT 0

Nav modes these modes correspond to the flight plan instructions used to set the high level navigation.

Definition at line 85 of file navigation.h.

◆ nav_IncreaseShift

#define nav_IncreaseShift ( x ) {}

Definition at line 380 of file navigation.h.

◆ nav_SetNavRadius

#define nav_SetNavRadius ( x ) {}

Definition at line 381 of file navigation.h.

◆ NAV_SETPOINT_MODE_ACCEL

#define NAV_SETPOINT_MODE_ACCEL 2

Definition at line 102 of file navigation.h.

◆ NAV_SETPOINT_MODE_ATTITUDE

#define NAV_SETPOINT_MODE_ATTITUDE 3

Definition at line 103 of file navigation.h.

◆ NAV_SETPOINT_MODE_MANUAL

#define NAV_SETPOINT_MODE_MANUAL 6

Definition at line 106 of file navigation.h.

◆ NAV_SETPOINT_MODE_POS

#define NAV_SETPOINT_MODE_POS 0

Nav setpoint modes these modes correspond to submodes defined by navigation routines to tell which setpoint should be considered.

Definition at line 100 of file navigation.h.

◆ NAV_SETPOINT_MODE_QUAT

#define NAV_SETPOINT_MODE_QUAT 4

Definition at line 104 of file navigation.h.

◆ NAV_SETPOINT_MODE_RATE

#define NAV_SETPOINT_MODE_RATE 5

Definition at line 105 of file navigation.h.

◆ NAV_SETPOINT_MODE_SPEED

#define NAV_SETPOINT_MODE_SPEED 1

Definition at line 101 of file navigation.h.

◆ NAV_VERTICAL_MODE_ALT

#define NAV_VERTICAL_MODE_ALT 2

Definition at line 94 of file navigation.h.

◆ NAV_VERTICAL_MODE_CLIMB

#define NAV_VERTICAL_MODE_CLIMB 1

Definition at line 93 of file navigation.h.

◆ NAV_VERTICAL_MODE_GUIDED

#define NAV_VERTICAL_MODE_GUIDED 3

Definition at line 95 of file navigation.h.

◆ NAV_VERTICAL_MODE_MANUAL

#define NAV_VERTICAL_MODE_MANUAL 0

Definition at line 92 of file navigation.h.

◆ NavAttitude

#define NavAttitude ( _roll )

Value:

    {                            \
    nav.horizontal_mode = NAV_HORIZONTAL_MODE_ATTITUDE; \
    nav.setpoint_mode = NAV_SETPOINT_MODE_ATTITUDE;     \
    nav.roll = _roll;                                   \
  }

Definition at line 257 of file navigation.h.

◆ NavCheckWaypointTime

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

Definition at line 250 of file navigation.h.

◆ NavCopyWaypoint

#define NavCopyWaypoint waypoint_copy

Definition at line 245 of file navigation.h.

◆ NavCopyWaypointPositionOnly

#define NavCopyWaypointPositionOnly waypoint_position_copy

Definition at line 246 of file navigation.h.

◆ NavDetectGround

#define NavDetectGround ( ) nav_detect_ground()

Definition at line 226 of file navigation.h.

◆ NavFollow

#define NavFollow	(	_i,
		_d,
		_h
	)	{}

Definition at line 395 of file navigation.h.

◆ NavHeading

#define NavHeading nav_set_heading_rad

Set the heading of the rotorcraft, nothing else.

Definition at line 290 of file navigation.h.

◆ NAVIGATION_FREQUENCY

#define NAVIGATION_FREQUENCY 20

default navigation frequency

Definition at line 78 of file navigation.h.

◆ navigation_SetFlightAltitude

#define navigation_SetFlightAltitude ( x )

Value:

    {                         \
    flight_altitude = x;                                          \
    nav.nav_altitude = flight_altitude - stateGetHmslOrigin_f();  \
  }

Definition at line 382 of file navigation.h.

◆ NavSetAltitudeReferenceHere

#define NavSetAltitudeReferenceHere nav_reset_alt

Definition at line 242 of file navigation.h.

◆ NavSetFailsafe

#define NavSetFailsafe nav_set_failsafe

Definition at line 239 of file navigation.h.

◆ NavSetGroundReferenceHere

#define NavSetGroundReferenceHere nav_reset_reference

Definition at line 241 of file navigation.h.

◆ NavSetMaxSpeed

#define NavSetMaxSpeed ( _speed )

Value:

    {  \
    nav.fp_max_speed = _speed;    \
  }

Set maximum speed.

Definition at line 293 of file navigation.h.

◆ NavSetWaypointHere

#define NavSetWaypointHere waypoint_set_here_2d

Definition at line 244 of file navigation.h.

◆ NavStartDetectGround

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

Definition at line 225 of file navigation.h.

◆ NavVerticalAltitudeMode

#define NavVerticalAltitudeMode	(	_alt,
		_pre_climb
	)

Value:

    { \
    nav.vertical_mode = NAV_VERTICAL_MODE_ALT;      \
    nav.fp_altitude = _alt;                         \
  }

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

Definition at line 271 of file navigation.h.

◆ NavVerticalAutoPitchMode

#define NavVerticalAutoPitchMode ( _throttle ) {}

Unused compat macros.

Definition at line 390 of file navigation.h.

◆ NavVerticalAutoThrottleMode

#define NavVerticalAutoThrottleMode ( _pitch )

Value:

    {   \
    nav.pitch = _pitch;                         \
  }

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

Definition at line 265 of file navigation.h.

◆ NavVerticalClimbMode

#define NavVerticalClimbMode ( _climb )

Value:

    {            \
    nav.vertical_mode = NAV_VERTICAL_MODE_CLIMB;  \
    nav.climb = _climb;                           \
    nav.speed.z = _climb;                         \
  }

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

Definition at line 277 of file navigation.h.

◆ NavVerticalThrottleMode

#define NavVerticalThrottleMode ( _throttle )

Value:

    {      \
    nav.vertical_mode = NAV_VERTICAL_MODE_MANUAL; \
    nav.throttle = _throttle;                     \
  }

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

Definition at line 284 of file navigation.h.

Typedef Documentation

◆ navigation_approaching

typedef bool(* navigation_approaching) (struct EnuCoor_f *wp_to, struct EnuCoor_f *wp_from, float approaching_time)

Definition at line 111 of file navigation.h.

◆ navigation_circle

typedef void(* navigation_circle) (struct EnuCoor_f *wp_center, float radius)

Definition at line 112 of file navigation.h.

◆ navigation_goto

typedef void(* navigation_goto) (struct EnuCoor_f *wp)

Definition at line 109 of file navigation.h.

◆ navigation_oval

typedef void(* navigation_oval) (struct EnuCoor_f *wp1, struct EnuCoor_f *wp2, float radius)

Definition at line 114 of file navigation.h.

◆ navigation_oval_init

typedef void(* navigation_oval_init) (void)

Definition at line 113 of file navigation.h.

◆ navigation_route

typedef void(* navigation_route) (struct EnuCoor_f *wp_start, struct EnuCoor_f *wp_end)

Definition at line 110 of file navigation.h.

◆ navigation_stage_init

typedef void(* navigation_stage_init) (void)

Definition at line 108 of file navigation.h.

Function Documentation

◆ compute_dist2_to_home()

void compute_dist2_to_home ( void )

extern

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 326 of file navigation.c.

◆ get_dist2_to_point()

float get_dist2_to_point ( struct EnuCoor_f * p )

extern

Returns squared horizontal distance to given point.

Definition at line 308 of file navigation.c.

◆ get_dist2_to_waypoint()

float get_dist2_to_waypoint ( uint8_t wp_id )

extern

Returns squared horizontal distance to given waypoint.

Definition at line 318 of file navigation.c.

◆ nav_check_wp_time()

bool nav_check_wp_time	(	struct EnuCoor_f *	wp,
		uint16_t	stay_time
	)

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

Definition at line 180 of file navigation.c.

References ARRIVED_AT_WAYPOINT, autopilot, ENU_BFP_OF_REAL, pprz_autopilot::flight_time, float_vect2_norm(), foo, INT_VECT3_ZERO, stateGetPositionEnu_f(), and VECT2_DIFF.

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

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◆ nav_detect_ground()

bool nav_detect_ground ( void )

extern

Definition at line 267 of file navigation.c.

References autopilot, and pprz_autopilot::ground_detected.

◆ nav_glide_points()

void nav_glide_points	(	struct EnuCoor_f *	start_point,
		struct EnuCoor_f *	end_point
	)

extern

Definition at line 282 of file navigation.c.

References float_vect2_norm2(), foo, NavVerticalAltitudeMode, pos_diff, stateGetPositionEnu_f(), VECT2_DIFF, FloatVect2::x, and FloatVect2::y.

Referenced by nav_land_run(), and NavGlide().

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◆ nav_home()

void nav_home ( void )

extern

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 424 of file nav.c.

◆ nav_init()

void nav_init ( void )

extern

Navigation Initialisation.

Definition at line 532 of file nav.c.

◆ nav_is_in_flight()

bool nav_is_in_flight ( void )

extern

Definition at line 277 of file navigation.c.

◆ nav_oval_init()

static void nav_oval_init ( void )

inlinestatic

Definition at line 350 of file navigation.h.

References nav, and RotorcraftNavigation::nav_oval_init.

◆ nav_parse_BLOCK()

void nav_parse_BLOCK ( uint8_t * buf )

extern

Definition at line 115 of file navigation.c.

◆ nav_parse_MOVE_WP()

void nav_parse_MOVE_WP ( uint8_t * buf )

extern

Definition at line 121 of file navigation.c.

◆ nav_periodic_task()

void nav_periodic_task ( void )

extern

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

Definition at line 445 of file nav.c.

◆ nav_register_circle()

void nav_register_circle ( navigation_circle nav_circle )

extern

Definition at line 399 of file navigation.c.

◆ nav_register_goto_wp()

void nav_register_goto_wp	(	navigation_goto	nav_goto,
		navigation_route	nav_route,
		navigation_approaching	nav_approaching
	)

extern

Register functions.

Definition at line 392 of file navigation.c.

◆ nav_register_oval()

void nav_register_oval	(	navigation_oval_init	_nav_oval_init,
		navigation_oval	nav_oval
	)

extern

Definition at line 404 of file navigation.c.

◆ nav_register_stage_init()

void nav_register_stage_init ( navigation_stage_init nav_stage_init )

extern

Registering functions.

Definition at line 387 of file navigation.c.

References nav, RotorcraftNavigation::nav_stage_init, and nav_stage_init().

Referenced by nav_rotorcraft_init().

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◆ nav_reset_alt()

void nav_reset_alt ( void )

extern

Reset the altitude reference to the current GPS alt.

Definition at line 241 of file navigation.c.

◆ nav_reset_reference()

void nav_reset_reference ( void )

extern

Reset the geographic reference to the current GPS fix.

Definition at line 234 of file navigation.c.

◆ nav_run()

void nav_run ( void )

extern

Definition at line 165 of file navigation.c.

◆ nav_set_failsafe()

void nav_set_failsafe ( void )

extern

Definition at line 380 of file navigation.c.

◆ nav_set_heading_current()

void nav_set_heading_current ( void )

extern

Set heading to the current yaw angle.

Definition at line 375 of file navigation.c.

◆ nav_set_heading_deg()

void nav_set_heading_deg ( float deg )

extern

Set nav_heading in degrees.

Definition at line 344 of file navigation.c.

◆ nav_set_heading_rad()

void nav_set_heading_rad ( float rad )

extern

heading utility functions

Definition at line 337 of file navigation.c.

◆ nav_set_heading_towards()

void nav_set_heading_towards	(	float	x,
		float	y
	)

extern

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

Definition at line 350 of file navigation.c.

◆ nav_set_heading_towards_target()

void nav_set_heading_towards_target ( void )

extern

Set heading in the direction of the target.

Definition at line 369 of file navigation.c.

◆ nav_set_heading_towards_waypoint()

void nav_set_heading_towards_waypoint ( uint8_t wp )

extern

Set heading in the direction of a waypoint.

Definition at line 363 of file navigation.c.

◆ NavApproaching()

static bool NavApproaching	(	uint8_t	wp,
		float	approaching_time
	)

inlinestatic

Definition at line 320 of file navigation.h.

References foo, nav, RotorcraftNavigation::nav_approaching, and waypoint_get_enu_f().

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◆ NavApproachingFrom()

static bool NavApproachingFrom	(	uint8_t	to,
		uint8_t	from,
		float	approaching_time
	)

inlinestatic

Definition at line 329 of file navigation.h.

References foo, nav, RotorcraftNavigation::nav_approaching, and waypoint_get_enu_f().

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◆ NavCircleWaypoint()

static void NavCircleWaypoint	(	uint8_t	wp_center,
		float	radius
	)

inlinestatic

Definition at line 340 of file navigation.h.

References foo, nav, RotorcraftNavigation::nav_circle, and waypoint_get_enu_f().

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◆ NavGlide()

static void NavGlide	(	uint8_t	wp_start,
		uint8_t	wp_end
	)

inlinestatic

Nav glide routine.

Definition at line 367 of file navigation.h.

References foo, nav_glide_points(), and waypoint_get_enu_f().

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◆ NavGotoWaypoint()

static void NavGotoWaypoint ( uint8_t wp )

inlinestatic

Definition at line 302 of file navigation.h.

References foo, nav, RotorcraftNavigation::nav_goto, and waypoint_get_enu_f().

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◆ NavKillThrottle()

static void NavKillThrottle ( void )

inlinestatic

Definition at line 229 of file navigation.h.

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

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◆ NavResurrect()

static void NavResurrect ( void )

inlinestatic

Definition at line 233 of file navigation.h.

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

Referenced by nav_takeoff_run().

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◆ NavSegment()

static void NavSegment	(	uint8_t	wp_start,
		uint8_t	wp_end
	)

inlinestatic

Definition at line 311 of file navigation.h.

References foo, nav, RotorcraftNavigation::nav_route, and waypoint_get_enu_f().

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◆ Oval()

static void Oval	(	uint8_t	wp1,
		uint8_t	wp2,
		float	radius
	)

inlinestatic

Definition at line 355 of file navigation.h.

References foo, nav, RotorcraftNavigation::nav_oval, and waypoint_get_enu_f().

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Variable Documentation

◆ flight_altitude

float flight_altitude

extern

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 74 of file nav.c.

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

◆ nav

struct RotorcraftNavigation nav

extern

Definition at line 51 of file navigation.c.

Referenced by nav_oval_init(), NavApproaching(), NavApproachingFrom(), NavCircleWaypoint(), NavGotoWaypoint(), NavSegment(), and Oval().

Data Structures

Macros

Typedefs

Functions

Variables

Detailed Description

Data Structure Documentation

◆ RotorcraftNavigation

Macro Definition Documentation

◆ ARRIVED_AT_WAYPOINT

◆ CARROT

◆ DEFAULT_CIRCLE_RADIUS

◆ FAILSAFE_MODE_DISTANCE

◆ GetAltRef

◆ GetPosAlt

◆ GetPosHeight

◆ GetPosX

◆ GetPosY

◆ NAV_CARROT_DIST

◆ NAV_CLIMB_VSPEED

◆ NAV_DESCEND_VSPEED

◆ NAV_HORIZONTAL_MODE_ATTITUDE

◆ NAV_HORIZONTAL_MODE_CIRCLE

◆ NAV_HORIZONTAL_MODE_GUIDED

◆ NAV_HORIZONTAL_MODE_NONE

◆ NAV_HORIZONTAL_MODE_ROUTE

◆ NAV_HORIZONTAL_MODE_WAYPOINT

◆ nav_IncreaseShift

◆ nav_SetNavRadius

◆ NAV_SETPOINT_MODE_ACCEL

◆ NAV_SETPOINT_MODE_ATTITUDE

◆ NAV_SETPOINT_MODE_MANUAL

◆ NAV_SETPOINT_MODE_POS

◆ NAV_SETPOINT_MODE_QUAT

◆ NAV_SETPOINT_MODE_RATE

◆ NAV_SETPOINT_MODE_SPEED

◆ NAV_VERTICAL_MODE_ALT

◆ NAV_VERTICAL_MODE_CLIMB

◆ NAV_VERTICAL_MODE_GUIDED

◆ NAV_VERTICAL_MODE_MANUAL

◆ NavAttitude

◆ NavCheckWaypointTime

◆ NavCopyWaypoint

◆ NavCopyWaypointPositionOnly

◆ NavDetectGround

◆ NavFollow

◆ NavHeading

◆ NAVIGATION_FREQUENCY

◆ navigation_SetFlightAltitude

◆ NavSetAltitudeReferenceHere

◆ NavSetFailsafe

◆ NavSetGroundReferenceHere

◆ NavSetMaxSpeed

◆ NavSetWaypointHere

◆ NavStartDetectGround

◆ NavVerticalAltitudeMode

◆ NavVerticalAutoPitchMode

◆ NavVerticalAutoThrottleMode

◆ NavVerticalClimbMode

◆ NavVerticalThrottleMode

Typedef Documentation

◆ navigation_approaching

◆ navigation_circle

◆ navigation_goto

◆ navigation_oval

◆ navigation_oval_init

◆ navigation_route

◆ navigation_stage_init

Function Documentation

◆ compute_dist2_to_home()

◆ get_dist2_to_point()

◆ get_dist2_to_waypoint()

◆ nav_check_wp_time()

◆ nav_detect_ground()

◆ nav_glide_points()

◆ nav_home()

◆ nav_init()

◆ nav_is_in_flight()

◆ nav_oval_init()

◆ nav_parse_BLOCK()