Rover navigation functions. More...

#include "std.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 dependency graph for navigation.h:

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

Macros
#define	CARROT 0.f
	default approaching_time for a wp More...

#define	CARROT_DIST 2.f

#define	NAVIGATION_FREQUENCY 20
	default navigation frequency More...

#define	DEFAULT_CIRCLE_RADIUS 6.0f
	default nav_circle_radius in meters More...

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

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

#define	NAV_MODE_WAYPOINT 0
	Nav modes. More...

#define	NAV_MODE_ROUTE 1

#define	NAV_MODE_CIRCLE 2

#define	NAV_MODE_HEADING 3

#define	NAV_MODE_MANUAL 4

#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	GetPosHeight() (stateGetPositionEnu_f()->z)
	Get current height above reference. 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	NormCourseRad(x)
	Normalize a rad angle between 0 and 2*PI. More...

#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	NavVerticalThrottleMode(_speed)

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

#define	NavSetMaxSpeed(_speed) {}

#define	navigation_IncreaseShift(x) { if (x==0) nav.shift = 0; else nav.shift += x; }
	Settings handlers. More...

#define	navigation_SetNavRadius(x) { if (x==1) nav.radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav.radius = -DEFAULT_CIRCLE_RADIUS; else nav.radius = x; }

#define	NavFollow nav_follow(_id, _dist, _height) {}

#define	NavGlide(_start_wp, _wp) {}
	Unused compat macros. More...

#define	NavVerticalAutoThrottleMode(_pitch) {}

#define	NavVerticalAutoPitchMode(_throttle) {}

#define	NavVerticalAltitudeMode(_alt, _pre_climb) {}

#define	NavVerticalClimbMode(_climb) {}

Typedefs
typedef void(*	nav_rover_goto) (struct EnuCoor_f *wp)

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

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

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

typedef void(*	nav_rover_oval_init) (void)

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

Functions
void	nav_register_goto_wp (nav_rover_goto nav_goto, nav_rover_route nav_route, nav_rover_approaching nav_approaching)
	Registering functions. More...

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)

void	nav_init (void)
	Navigation Initialisation. More...

void	nav_run (void)

void	nav_parse_BLOCK (uint8_t *buf)

void	nav_parse_MOVE_WP (uint8_t *buf)

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_f *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 (float speed, float turn)

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)
	heading utility functions 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)

static void	NavKillThrottle (void)

static void	NavResurrect (void)

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 More...

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)

Variables
struct RoverNavigation	nav

Detailed Description

Rover navigation functions.

Definition in file navigation.h.

Data Structure Documentation

◆ RoverNavigation

struct RoverNavigation

General Navigation structure.

Definition at line 88 of file navigation.h.

Collaboration diagram for RoverNavigation:

Data Fields
struct EnuCoor_f	carrot	carrot position
float	dist2_to_home	squared distance to home waypoint
bool	exception_flag[10]	array of flags that might be used in flight plans
float	failsafe_mode_dist2	maximum squared distance to home wp before going to failsafe mode
float	heading	heading setpoint (in radians)
struct EnuCoor_f	last_pos	last stage position
uint8_t	mode
nav_rover_approaching	nav_approaching
nav_rover_circle	nav_circle
nav_rover_goto	nav_goto
nav_rover_oval	nav_oval
nav_rover_oval_init	nav_oval_init
nav_rover_route	nav_route
float	radius	radius setpoint
float	shift	lateral shift (in meters)
float	speed	speed setpoint
struct EnuCoor_f	target	final target
bool	too_far_from_home	too_far flag
float	turn	turn rate setpoint

Macro Definition Documentation

◆ ARRIVED_AT_WAYPOINT

#define ARRIVED_AT_WAYPOINT 3.0f

minimum horizontal distance to waypoint to mark as arrived

Definition at line 63 of file navigation.h.

◆ CARROT

#define CARROT 0.f

default approaching_time for a wp

Definition at line 39 of file navigation.h.

◆ CARROT_DIST

#define CARROT_DIST 2.f

Definition at line 43 of file navigation.h.

◆ DEFAULT_CIRCLE_RADIUS

#define DEFAULT_CIRCLE_RADIUS 6.0f

default nav_circle_radius in meters

Definition at line 58 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 68 of file navigation.h.

◆ GetAltRef

#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 147 of file navigation.h.

◆ GetPosAlt

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

Get current altitude above MSL.

Definition at line 138 of file navigation.h.

◆ GetPosHeight

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

Get current height above reference.

Definition at line 140 of file navigation.h.

◆ GetPosX

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

Get current x (east) position in local coordinates.

Definition at line 134 of file navigation.h.

◆ GetPosY

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

Get current y (north) position in local coordinates.

Definition at line 136 of file navigation.h.

◆ NAV_MODE_CIRCLE

#define NAV_MODE_CIRCLE 2

Definition at line 74 of file navigation.h.

◆ NAV_MODE_HEADING

#define NAV_MODE_HEADING 3

Definition at line 75 of file navigation.h.

◆ NAV_MODE_MANUAL

#define NAV_MODE_MANUAL 4

Definition at line 76 of file navigation.h.

◆ NAV_MODE_ROUTE

#define NAV_MODE_ROUTE 1

Definition at line 73 of file navigation.h.

◆ NAV_MODE_WAYPOINT

#define NAV_MODE_WAYPOINT 0

Nav modes.

Definition at line 72 of file navigation.h.

◆ NavAttitude

#define NavAttitude ( _roll )

Value:

  {  \
  nav.mode = NAV_MODE_MANUAL; \
  nav.turn = _roll;           \
  BoundAbs(nav.turn, 1.f);    \
}

Definition at line 220 of file navigation.h.

◆ NavCheckWaypointTime

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

Definition at line 212 of file navigation.h.

◆ NavCopyWaypoint

#define NavCopyWaypoint waypoint_copy

Definition at line 206 of file navigation.h.

◆ NavCopyWaypointPositionOnly

#define NavCopyWaypointPositionOnly waypoint_position_copy

Definition at line 207 of file navigation.h.

◆ NavFollow

#define NavFollow nav_follow(_id, _dist, _height) {}

Definition at line 312 of file navigation.h.

◆ NavGlide

#define NavGlide	(	_start_wp,
		_wp
	)	{}

Unused compat macros.

Definition at line 318 of file navigation.h.

◆ NavHeading

#define NavHeading nav_set_heading_rad

Set the heading of the rover, nothing else.

Definition at line 233 of file navigation.h.

◆ NAVIGATION_FREQUENCY

#define NAVIGATION_FREQUENCY 20

default navigation frequency

Definition at line 51 of file navigation.h.

◆ navigation_IncreaseShift

#define navigation_IncreaseShift ( x ) { if (x==0) nav.shift = 0; else nav.shift += x; }

Settings handlers.

Definition at line 306 of file navigation.h.

◆ navigation_SetNavRadius

#define navigation_SetNavRadius ( x ) { if (x==1) nav.radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav.radius = -DEFAULT_CIRCLE_RADIUS; else nav.radius = x; }

Definition at line 308 of file navigation.h.

◆ NavSetAltitudeReferenceHere

#define NavSetAltitudeReferenceHere nav_reset_alt

Definition at line 203 of file navigation.h.

◆ NavSetFailsafe

#define NavSetFailsafe nav_set_failsafe

Definition at line 200 of file navigation.h.

◆ NavSetGroundReferenceHere

#define NavSetGroundReferenceHere nav_reset_reference

Definition at line 202 of file navigation.h.

◆ NavSetMaxSpeed

#define NavSetMaxSpeed ( _speed ) {}

Definition at line 235 of file navigation.h.

◆ NavSetWaypointHere

#define NavSetWaypointHere waypoint_set_here_2d

Definition at line 205 of file navigation.h.

◆ NavVerticalAltitudeMode

#define NavVerticalAltitudeMode	(	_alt,
		_pre_climb
	)	{}

Definition at line 321 of file navigation.h.

◆ NavVerticalAutoPitchMode

#define NavVerticalAutoPitchMode ( _throttle ) {}

Definition at line 320 of file navigation.h.

◆ NavVerticalAutoThrottleMode

#define NavVerticalAutoThrottleMode ( _pitch ) {}

Definition at line 319 of file navigation.h.

◆ NavVerticalClimbMode

#define NavVerticalClimbMode ( _climb ) {}

Definition at line 322 of file navigation.h.

◆ NavVerticalThrottleMode

#define NavVerticalThrottleMode ( _speed )

Value:

  { \
  nav.speed = _speed;                     \
  BoundAbs(nav.speed, 1.f);               \
}

Definition at line 227 of file navigation.h.

◆ NormCourse

#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 151 of file navigation.h.

◆ NormCourseRad

#define NormCourseRad ( x )

Value:

    { \
    while (x < 0) x += 2*M_PI; \
    while (x >= 2*M_PI) x -= 2*M_PI; \
  }

Normalize a rad angle between 0 and 2*PI.

Definition at line 156 of file navigation.h.

Typedef Documentation

◆ nav_rover_approaching

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

Definition at line 80 of file navigation.h.

◆ nav_rover_circle

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

Definition at line 81 of file navigation.h.

◆ nav_rover_goto

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

Definition at line 78 of file navigation.h.

◆ nav_rover_oval

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

Definition at line 83 of file navigation.h.

◆ nav_rover_oval_init

typedef void(* nav_rover_oval_init) (void)

Definition at line 82 of file navigation.h.

◆ nav_rover_route

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

Definition at line 79 of file navigation.h.

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.

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 )

Returns squared horizontal distance to given point.

Definition at line 308 of file navigation.c.

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

Referenced by get_dist2_to_waypoint(), nav_goto(), nav_hybrid_goto(), nav_hybrid_route(), and nav_route().

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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 318 of file navigation.c.

References get_dist2_to_point(), and waypoints.

Referenced by compute_dist2_to_home().

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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.

◆ nav_home()

void nav_home ( void )

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 424 of file nav.c.

References autopilot, compute_dist2_to_home(), dist2_to_home, dist2_to_wp, FAILSAFE_HOME_RADIUS, ground_alt, RotorcraftNavigation::horizontal_mode, pprz_autopilot::launch, nav, nav_altitude, RotorcraftNavigation::nav_altitude, NAV_HORIZONTAL_MODE_WAYPOINT, NAV_MODE_WAYPOINT, nav_pitch, nav_run(), nav_set_altitude(), NAV_SETPOINT_MODE_POS, NAV_VERTICAL_MODE_ALT, NavCircleWaypoint, RotorcraftNavigation::setpoint_mode, RotorcraftNavigation::target, v_ctl_mode, V_CTL_MODE_AUTO_ALT, V_CTL_MODE_AUTO_THROTTLE, v_ctl_throttle_setpoint, VECT3_COPY, RotorcraftNavigation::vertical_mode, waypoint_get_alt(), and waypoints.

Referenced by autopilot_static_periodic(), and navigation_task().

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◆ nav_init()

void nav_init ( void )

Navigation Initialisation.

Definition at line 532 of file nav.c.

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◆ nav_is_in_flight()

bool nav_is_in_flight ( void )

Definition at line 277 of file navigation.c.

References autopilot_in_flight().

Referenced by follow_me(), and nav_land_run().

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◆ nav_oval_init()

static void nav_oval_init ( void )

inlinestatic

Definition at line 289 of file navigation.h.

References nav, and RotorcraftNavigation::nav_oval_init.

◆ nav_parse_BLOCK()

void nav_parse_BLOCK ( uint8_t * buf )

Definition at line 115 of file navigation.c.

References nav_goto_block().

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◆ nav_parse_MOVE_WP()

void nav_parse_MOVE_WP ( uint8_t * buf )

Definition at line 121 of file navigation.c.

References LlaCoor_i::alt, LtpDef_i::hmsl, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, State::ned_origin_i, state, 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 445 of file nav.c.

References block_time, circle_bank, compute_dist2_to_home(), dist2_to_wp, h_ctl_course_pre_bank, nav_in_circle, nav_run(), nav_set_altitude(), nav_survey_active, NAVIGATION_FREQUENCY, stage_time, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_mode, and V_CTL_MODE_AUTO_CLIMB.

Referenced by autopilot_static_periodic(), and navigation_task().

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◆ nav_register_circle()

void nav_register_circle ( nav_rover_circle nav_circle )

Definition at line 399 of file navigation.c.

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

Referenced by nav_rotorcraft_hybrid_init(), nav_rotorcraft_init(), and nav_rover_init().

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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
	)

Registering functions.

Definition at line 392 of file navigation.c.

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

Referenced by nav_rotorcraft_hybrid_init(), nav_rotorcraft_init(), and nav_rover_init().

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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 404 of file navigation.c.

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

Referenced by nav_rotorcraft_init(), and nav_rover_init().

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◆ nav_reset_alt()

void nav_reset_alt ( void )

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 )

Reset the geographic reference to the current GPS fix.

Definition at line 234 of file navigation.c.

◆ nav_run()

void nav_run ( void )

Definition at line 165 of file navigation.c.

References RotorcraftNavigation::carrot, nav, nav_advance_carrot(), nav_set_altitude(), RotorcraftNavigation::target, and VECT2_COPY.

Referenced by nav_home(), and nav_periodic_task().

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◆ nav_set_failsafe()

void nav_set_failsafe ( void )

Definition at line 380 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 375 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 344 of file navigation.c.

References nav_set_heading_rad().

Referenced by nav_survey_poly_setup(), and nav_survey_rectangle_rotorcraft_setup().

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◆ nav_set_heading_rad()

void nav_set_heading_rad ( float rad )

heading utility functions

Definition at line 337 of file navigation.c.

References RotorcraftNavigation::heading, nav, and NormCourseRad.

Referenced by nav_set_heading_deg(), and stereocam_droplet_periodic().

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◆ 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 350 of file navigation.c.

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

Referenced by nav_set_heading_towards_target(), and nav_set_heading_towards_waypoint().

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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 369 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 363 of file navigation.c.

References nav_set_heading_towards(), WaypointX, and WaypointY.

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◆ nav_set_manual()

void nav_set_manual	(	float	speed,
		float	turn
	)

◆ NavApproaching()

static bool NavApproaching	(	uint8_t	wp,
		float	approaching_time
	)

inlinestatic

Definition at line 259 of file navigation.h.

References nav, RotorcraftNavigation::nav_approaching, and waypoints.

◆ NavApproachingFrom()

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

inlinestatic

Definition at line 269 of file navigation.h.

References nav, RotorcraftNavigation::nav_approaching, and waypoints.

◆ NavCircleWaypoint()

static void NavCircleWaypoint	(	uint8_t	wp_center,
		float	radius
	)

inlinestatic

Definition at line 280 of file navigation.h.

References nav, RotorcraftNavigation::nav_circle, NAV_MODE_CIRCLE, RoverNavigation::radius, and waypoints.

◆ NavGotoWaypoint()

static void NavGotoWaypoint ( uint8_t wp )

inlinestatic

Definition at line 243 of file navigation.h.

References nav, NAV_MODE_WAYPOINT, RotorcraftNavigation::target, VECT3_COPY, and waypoints.

◆ NavKillThrottle()

static void NavKillThrottle ( void )

inlinestatic

Definition at line 191 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 195 of file navigation.h.

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

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◆ NavSegment()

static void NavSegment	(	uint8_t	wp_start,
		uint8_t	wp_end
	)

inlinestatic

Definition at line 251 of file navigation.h.

References nav, NAV_MODE_ROUTE, RotorcraftNavigation::nav_route, and waypoints.

◆ Oval()

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

inlinestatic

Definition at line 296 of file navigation.h.

References nav, RotorcraftNavigation::nav_oval, RoverNavigation::radius, and waypoints.

◆ set_exception_flag()

void set_exception_flag ( uint8_t flag_num )

Definition at line 57 of file navigation.c.

References nav.

Variable Documentation

◆ nav

struct RoverNavigation nav

extern

Definition at line 1 of file navigation.c.

Referenced by autopilot_static_on_rc_frame(), autopilot_static_periodic(), compute_dist2_to_home(), follow_me(), guidance_h_from_nav(), guidance_h_update_reference(), guidance_indi_enter(), guidance_pid_h_enter(), gvf_control_2D(), increase_nav_heading(), ins_ekf2_publish_attitude(), mission_nav_circle(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_advance_carrot(), nav_circle(), nav_goto(), nav_heli_spinup_run(), nav_heli_spinup_setup(), nav_home(), nav_hybrid_circle(), nav_hybrid_goto(), nav_hybrid_route(), nav_init(), nav_init_stage(), nav_land_run(), nav_oval(), nav_register_circle(), nav_register_goto_wp(), nav_register_oval(), nav_register_stage_init(), nav_route(), nav_run(), nav_set_altitude(), nav_set_heading_current(), nav_set_heading_rad(), nav_set_heading_towards(), nav_set_heading_towards_target(), nav_survey_hybrid_run(), nav_survey_poly_run(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), object_tracking_run(), oneloop_from_nav(), rotorcraft_cam_periodic(), run_avoid_navigation_onvision(), send_fp(), send_nav_status(), set_exception_flag(), and stereocam_droplet_periodic().

Data Structures

Macros

Typedefs

Functions

Variables

Detailed Description

Data Structure Documentation

◆ RoverNavigation

Macro Definition Documentation

◆ ARRIVED_AT_WAYPOINT

◆ CARROT

◆ CARROT_DIST

◆ DEFAULT_CIRCLE_RADIUS

◆ FAILSAFE_MODE_DISTANCE

◆ GetAltRef

◆ GetPosAlt

◆ GetPosHeight

◆ GetPosX

◆ GetPosY

◆ NAV_MODE_CIRCLE

◆ NAV_MODE_HEADING

◆ NAV_MODE_MANUAL

◆ NAV_MODE_ROUTE

◆ NAV_MODE_WAYPOINT

◆ NavAttitude

◆ NavCheckWaypointTime

◆ NavCopyWaypoint

◆ NavCopyWaypointPositionOnly

◆ NavFollow

◆ NavGlide

◆ NavHeading

◆ NAVIGATION_FREQUENCY

◆ navigation_IncreaseShift

◆ navigation_SetNavRadius

◆ NavSetAltitudeReferenceHere

◆ NavSetFailsafe

◆ NavSetGroundReferenceHere

◆ NavSetMaxSpeed

◆ NavSetWaypointHere

◆ NavVerticalAltitudeMode

◆ NavVerticalAutoPitchMode

◆ NavVerticalAutoThrottleMode

◆ NavVerticalClimbMode

◆ NavVerticalThrottleMode

◆ NormCourse

◆ NormCourseRad

Typedef Documentation

◆ nav_rover_approaching

◆ nav_rover_circle

◆ nav_rover_goto

◆ nav_rover_oval

◆ nav_rover_oval_init

◆ nav_rover_route

Function Documentation

◆ compute_dist2_to_home()

◆ get_dist2_to_point()

◆ get_dist2_to_waypoint()

◆ nav_check_wp_time()

◆ nav_home()

◆ nav_init()

◆ nav_is_in_flight()

◆ nav_oval_init()

◆ nav_parse_BLOCK()

◆ nav_parse_MOVE_WP()

◆ nav_periodic_task()

◆ nav_register_circle()

◆ nav_register_goto_wp()

◆ nav_register_oval()

◆ 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()

◆ nav_set_manual()

◆ NavApproaching()