Rover navigation functions. More...

#include "firmwares/rover/navigation.h"
#include "pprz_debug.h"
#include "modules/gps/gps.h"
#include "modules/ins/ins.h"
#include "state.h"
#include "autopilot.h"
#include "generated/modules.h"
#include "generated/flight_plan.h"
#include "math/pprz_algebra_int.h"
#include "modules/datalink/downlink.h"
#include "pprzlink/messages.h"
#include "mcu_periph/uart.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for navigation.c:

Go to the source code of this file.

Macros
#define	NAV_C

Functions
void	set_exception_flag (uint8_t flag_num)

static void	send_wp_moved (struct transport_tx trans, struct link_device dev)

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)

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

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

void	nav_reset_alt (void)

void	nav_init_stage (void)
	needs to be implemented by fixedwing and rotorcraft seperately

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_home (void)
	Home mode navigation.

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

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

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

void	nav_set_heading_rad (float rad)
	Set nav_heading in radians.

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)

void	nav_register_stage_init (nav_rover_stage_init nav_stage_init)
	Register functions.

void	nav_register_goto_wp (nav_rover_goto nav_goto, nav_rover_route nav_route, nav_rover_approaching nav_approaching)

void	nav_register_circle (nav_rover_circle nav_circle)

void	nav_register_oval (nav_rover_oval_init nav_oval_init, nav_rover_oval nav_oval)

Variables
struct RoverNavigation	nav

const float	max_dist_from_home = MAX_DIST_FROM_HOME

const float	max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME

float	failsafe_mode_dist2 = FAILSAFE_MODE_DISTANCE * FAILSAFE_MODE_DISTANCE

Detailed Description

Rover navigation functions.

Definition in file navigation.c.

Macro Definition Documentation

◆ NAV_C

#define NAV_C

Definition at line 28 of file navigation.c.

Function Documentation

◆ compute_dist2_to_home()

void compute_dist2_to_home ( void )

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Definition at line 242 of file navigation.c.

References RotorcraftNavigation::dist2_to_home, foo, get_dist2_to_waypoint(), max_dist2_from_home, nav, stateGetPositionEnu_f(), RotorcraftNavigation::too_far_from_home, EnuCoor_f::x, and EnuCoor_f::y.

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◆ get_dist2_to_point()

float get_dist2_to_point ( struct EnuCoor_f * p )

Returns squared horizontal distance to given point.

Definition at line 223 of file navigation.c.

References p, pos_diff, stateGetPositionEnu_f(), FloatVect2::x, EnuCoor_f::x, FloatVect2::y, and EnuCoor_f::y.

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◆ get_dist2_to_waypoint()

float get_dist2_to_waypoint ( uint8_t wp_id )

Returns squared horizontal distance to given waypoint.

Definition at line 234 of file navigation.c.

References get_dist2_to_point(), and waypoints.

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◆ nav_check_wp_time()

bool nav_check_wp_time	(	struct EnuCoor_f *	wp,
		float	stay_time
	)

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

Definition at line 135 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.

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◆ nav_home()

void nav_home ( void )

Home mode navigation.

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 213 of file navigation.c.

References foo, nav, NAV_MODE_WAYPOINT, nav_run(), RotorcraftNavigation::target, VECT3_COPY, and waypoints.

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◆ nav_init()

void nav_init ( void )

Navigation Initialisation.

Definition at line 79 of file navigation.c.

References RotorcraftNavigation::carrot, common_flight_plan_init(), DEFAULT_CIRCLE_RADIUS, DefaultPeriodic, RotorcraftNavigation::dist2_to_home, foo, RotorcraftNavigation::heading, nav, NAV_MODE_WAYPOINT, RotorcraftNavigation::radius, register_periodic_telemetry(), send_wp_moved(), RotorcraftNavigation::speed, RotorcraftNavigation::target, RotorcraftNavigation::too_far_from_home, VECT3_COPY, waypoints, and waypoints_init().

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◆ nav_init_stage()

void nav_init_stage ( void )

needs to be implemented by fixedwing and rotorcraft seperately

Definition at line 187 of file navigation.c.

References nav, RotorcraftNavigation::nav_stage_init, stage_time, stateGetPositionEnu_f(), and VECT3_COPY.

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◆ nav_is_in_flight()

bool nav_is_in_flight ( void )

Definition at line 207 of file navigation.c.

References autopilot_in_flight().

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◆ nav_parse_BLOCK()

void nav_parse_BLOCK ( uint8_t * buf )

Definition at line 111 of file navigation.c.

References foo, and nav_goto_block().

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◆ nav_parse_MOVE_WP()

void nav_parse_MOVE_WP ( uint8_t * buf )

Definition at line 117 of file navigation.c.

References LlaCoor_i::alt, foo, LlaCoor_i::lat, LlaCoor_i::lon, stateGetHmslOrigin_i(), stateGetLlaOrigin_i(), stateIsLocalCoordinateValid(), and waypoint_move_lla().

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◆ nav_periodic_task()

void nav_periodic_task ( void )

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

Definition at line 196 of file navigation.c.

References block_time, foo, nav_run(), NAVIGATION_FREQUENCY, and stage_time.

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◆ nav_register_circle()

void nav_register_circle ( nav_rover_circle nav_circle )

Definition at line 318 of file navigation.c.

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

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◆ nav_register_goto_wp()

void nav_register_goto_wp	(	nav_rover_goto	nav_goto,
		nav_rover_route	nav_route,
		nav_rover_approaching	nav_approaching
	)

Definition at line 311 of file navigation.c.

References nav, RotorcraftNavigation::nav_approaching, nav_approaching(), RotorcraftNavigation::nav_goto, nav_goto(), RotorcraftNavigation::nav_route, and nav_route().

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◆ nav_register_oval()

void nav_register_oval	(	nav_rover_oval_init	nav_oval_init,
		nav_rover_oval	nav_oval
	)

Definition at line 323 of file navigation.c.

References nav, nav_oval(), RotorcraftNavigation::nav_oval, nav_oval_init(), and RotorcraftNavigation::nav_oval_init.

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◆ nav_register_stage_init()

void nav_register_stage_init ( nav_rover_stage_init nav_stage_init )

Register functions.

Registering functions.

Definition at line 306 of file navigation.c.

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

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◆ nav_reset_alt()

void nav_reset_alt ( void )

Definition at line 181 of file navigation.c.

References foo, INS_RESET_VERTICAL_REF, and waypoints_localize_all().

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◆ nav_reset_reference()

void nav_reset_reference ( void )

Reset the geographic reference to the current GPS fix.

Definition at line 174 of file navigation.c.

References foo, INS_RESET_REF, and waypoints_localize_all().

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◆ nav_run()

void nav_run ( void )

Definition at line 106 of file navigation.c.

References RotorcraftNavigation::carrot, nav, RotorcraftNavigation::target, and VECT2_COPY.

◆ nav_set_failsafe()

void nav_set_failsafe ( void )

Definition at line 295 of file navigation.c.

References AP_MODE_FAILSAFE, and autopilot_set_mode().

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◆ nav_set_heading_current()

void nav_set_heading_current ( void )

Set heading to the current yaw angle.

Definition at line 290 of file navigation.c.

References RotorcraftNavigation::heading, nav, FloatEulers::psi, and stateGetNedToBodyEulers_f().

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◆ nav_set_heading_deg()

void nav_set_heading_deg ( float deg )

Set nav_heading in degrees.

Definition at line 260 of file navigation.c.

References foo, and nav_set_heading_rad().

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◆ nav_set_heading_rad()

void nav_set_heading_rad ( float rad )

Set nav_heading in radians.

heading utility functions

Definition at line 253 of file navigation.c.

References RotorcraftNavigation::heading, nav, and NormCourseRad.

◆ nav_set_heading_towards()

void nav_set_heading_towards	(	float	x,
		float	y
	)

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

Definition at line 266 of file navigation.c.

References foo, RotorcraftNavigation::heading, nav, pos_diff, stateGetPositionEnu_f(), target, VECT2_DIFF, VECT2_NORM2, FloatVect2::x, and FloatVect2::y.

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◆ nav_set_heading_towards_target()

void nav_set_heading_towards_target ( void )

Set heading in the direction of the target.

Definition at line 284 of file navigation.c.

References nav, nav_set_heading_towards(), RotorcraftNavigation::target, EnuCoor_f::x, and EnuCoor_f::y.

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◆ nav_set_heading_towards_waypoint()

void nav_set_heading_towards_waypoint ( uint8_t wp )

Set heading in the direction of a waypoint.

Definition at line 278 of file navigation.c.

References nav_set_heading_towards(), WaypointX, and WaypointY.

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◆ send_wp_moved()

static void send_wp_moved	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 66 of file navigation.c.

References dev, foo, nb_waypoint, waypoints, point::x, and point::y.

Referenced by nav_init().

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◆ set_exception_flag()

void set_exception_flag ( uint8_t flag_num )

Definition at line 57 of file navigation.c.

References foo, and nav.

Variable Documentation

◆ failsafe_mode_dist2

float failsafe_mode_dist2 = FAILSAFE_MODE_DISTANCE * FAILSAFE_MODE_DISTANCE

Definition at line 54 of file navigation.c.

◆ max_dist2_from_home

const float max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME

Definition at line 53 of file navigation.c.

◆ max_dist_from_home

const float max_dist_from_home = MAX_DIST_FROM_HOME

Definition at line 52 of file navigation.c.

◆ nav

struct RoverNavigation nav

Definition at line 50 of file navigation.c.

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

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ NAV_C

Function Documentation

◆ compute_dist2_to_home()

◆ get_dist2_to_point()

◆ get_dist2_to_waypoint()

◆ nav_check_wp_time()

◆ nav_home()

◆ nav_init()

◆ nav_init_stage()

◆ nav_is_in_flight()

◆ nav_parse_BLOCK()

◆ nav_parse_MOVE_WP()

◆ nav_periodic_task()

◆ nav_register_circle()

◆ nav_register_goto_wp()

◆ nav_register_oval()

◆ nav_register_stage_init()

◆ nav_reset_alt()

◆ nav_reset_reference()

◆ nav_run()

◆ nav_set_failsafe()

◆ nav_set_heading_current()

◆ nav_set_heading_deg()

◆ nav_set_heading_rad()

◆ nav_set_heading_towards()

◆ nav_set_heading_towards_target()

◆ nav_set_heading_towards_waypoint()

◆ send_wp_moved()

◆ set_exception_flag()

Variable Documentation

◆ failsafe_mode_dist2

◆ max_dist2_from_home

◆ max_dist_from_home

◆ nav