Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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waypoints.c File Reference
#include "subsystems/navigation/waypoints.h"
#include "state.h"
#include "subsystems/datalink/downlink.h"
#include "generated/flight_plan.h"
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Go to the source code of this file.

Functions

void waypoints_init (void)
 initialize global and local waypoints More...
 
bool waypoint_is_global (uint8_t wp_id)
 
void waypoint_set_global_flag (uint8_t wp_id)
 
void waypoint_clear_global_flag (uint8_t wp_id)
 
float waypoint_get_x (uint8_t wp_id)
 Get X/East coordinate of waypoint in meters. More...
 
float waypoint_get_y (uint8_t wp_id)
 Get Y/North coordinate of waypoint in meters. More...
 
float waypoint_get_alt (uint8_t wp_id)
 Get altitude of waypoint in meters (above reference) More...
 
void waypoint_set_enu_i (uint8_t wp_id, struct EnuCoor_i *enu)
 
void waypoint_set_enu (uint8_t wp_id, struct EnuCoor_f *enu)
 Set local ENU waypoint coordinates. More...
 
void waypoint_move_enu_i (uint8_t wp_id, struct EnuCoor_i *new_pos)
 
void waypoint_set_xy_i (uint8_t wp_id, int32_t x, int32_t y)
 Set only local XY coordinates of waypoint without update altitude. More...
 
void waypoint_move_xy_i (uint8_t wp_id, int32_t x, int32_t y)
 
void waypoint_set_alt_i (uint8_t wp_id, int32_t alt)
 
void waypoint_set_alt (uint8_t wp_id, float alt)
 Set altitude of waypoint in meters (above reference) More...
 
void waypoint_set_lla (uint8_t wp_id, struct LlaCoor_i *lla)
 
void waypoint_move_lla (uint8_t wp_id, struct LlaCoor_i *lla)
 
void waypoint_set_latlon (uint8_t wp_id, struct LlaCoor_i *lla)
 set waypoint latitude/longitude without updating altitude More...
 
void waypoint_set_here (uint8_t wp_id)
 set waypoint to current location and altitude More...
 
void waypoint_set_here_2d (uint8_t wp_id)
 set waypoint to current horizontal location without modifying altitude More...
 
void waypoint_move_here_2d (uint8_t wp_id)
 
void waypoint_globalize (uint8_t wp_id)
 update global LLA coordinates from its ENU coordinates More...
 
void waypoint_localize (uint8_t wp_id)
 update local ENU coordinates from its LLA coordinates More...
 
void waypoints_localize_all (void)
 update local ENU coordinates of global waypoints More...
 
struct LlaCoor_iwaypoint_get_lla (uint8_t wp_id)
 Get LLA coordinates of waypoint. More...
 
void waypoint_copy (uint8_t wp_dest, uint8_t wp_src)
 copy one waypoint to another, this includes all flags from the source waypoint More...
 
void waypoint_position_copy (uint8_t wp_dest, uint8_t wp_src)
 

Variables

const uint8_t nb_waypoint = NB_WAYPOINT
 
struct Waypoint waypoints [NB_WAYPOINT]
 size == nb_waypoint, waypoint 0 is a dummy waypoint More...
 

Function Documentation

void waypoint_clear_global_flag ( uint8_t  wp_id)

Definition at line 70 of file waypoints.c.

References nb_waypoint, waypoints, and WP_FLAG_GLOBAL.

void waypoint_copy ( uint8_t  wp_dest,
uint8_t  wp_src 
)

copy one waypoint to another, this includes all flags from the source waypoint

Definition at line 323 of file waypoints.c.

References nb_waypoint, and waypoints.

Referenced by drop_zone_set().

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float waypoint_get_alt ( uint8_t  wp_id)

Get altitude of waypoint in meters (above reference)

Definition at line 93 of file waypoints.c.

References Waypoint::enu_f, nb_waypoint, waypoints, and EnuCoor_f::z.

Referenced by stereocam_droplet_periodic().

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struct LlaCoor_i* waypoint_get_lla ( uint8_t  wp_id)

Get LLA coordinates of waypoint.

If the waypoint does not have its global coordinates set, the LLA representation is computed if the local origin is set.

Parameters
wp_idwaypoint id
Returns
pointer to waypoint LLA coordinates, NULL if invalid

Definition at line 310 of file waypoints.c.

References Waypoint::lla, nb_waypoint, waypoint_globalize(), waypoint_is_global(), waypoints, and WP_FLAG_LLA_I.

Referenced by mavlink_send_wp().

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float waypoint_get_x ( uint8_t  wp_id)

Get X/East coordinate of waypoint in meters.

Definition at line 77 of file waypoints.c.

References Waypoint::enu_f, nb_waypoint, waypoints, and EnuCoor_f::x.

Referenced by mission_point_of_lla(), and stereocam_droplet_periodic().

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float waypoint_get_y ( uint8_t  wp_id)

Get Y/North coordinate of waypoint in meters.

Definition at line 85 of file waypoints.c.

References Waypoint::enu_f, nb_waypoint, waypoints, and EnuCoor_f::y.

Referenced by mission_point_of_lla(), and stereocam_droplet_periodic().

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void waypoint_globalize ( uint8_t  wp_id)

update global LLA coordinates from its ENU coordinates

Definition at line 265 of file waypoints.c.

References ecef_of_enu_pos_i(), Waypoint::enu_i, lla_of_ecef_i(), State::ned_initialized_i, State::ned_origin_i, state, waypoints, and WP_FLAG_LLA_I.

Referenced by waypoint_get_lla(), waypoint_set_alt(), waypoint_set_alt_i(), waypoint_set_enu(), waypoint_set_enu_i(), and waypoint_set_xy_i().

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bool waypoint_is_global ( uint8_t  wp_id)
void waypoint_localize ( uint8_t  wp_id)

update local ENU coordinates from its LLA coordinates

Definition at line 276 of file waypoints.c.

References ENU_FLOAT_OF_BFP, Waypoint::enu_i, enu_of_lla_point_i(), Waypoint::lla, State::ned_initialized_i, State::ned_origin_i, POS_BFP_OF_REAL, state, waypoints, WP_FLAG_ENU_F, WP_FLAG_ENU_I, EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by waypoint_set_latlon(), waypoint_set_lla(), and waypoints_localize_all().

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void waypoint_move_enu_i ( uint8_t  wp_id,
struct EnuCoor_i new_pos 
)

Definition at line 125 of file waypoints.c.

References DefaultChannel, DefaultDevice, nb_waypoint, waypoint_set_enu_i(), EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

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void waypoint_move_here_2d ( uint8_t  wp_id)

Definition at line 246 of file waypoints.c.

References LlaCoor_i::alt, DefaultChannel, DefaultDevice, Waypoint::enu_i, LtpDef_i::hmsl, LlaCoor_i::lat, Waypoint::lla, LtpDef_i::lla, LlaCoor_i::lon, nb_waypoint, State::ned_origin_i, state, waypoint_is_global(), waypoints, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by orange_avoider_periodic().

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void waypoint_move_lla ( uint8_t  wp_id,
struct LlaCoor_i lla 
)

Definition at line 189 of file waypoints.c.

References LlaCoor_i::alt, DefaultChannel, DefaultDevice, Waypoint::enu_i, LtpDef_i::hmsl, LlaCoor_i::lat, LtpDef_i::lla, LlaCoor_i::lon, nb_waypoint, State::ned_origin_i, state, waypoint_is_global(), waypoint_set_lla(), waypoints, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by firmware_parse_msg().

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void waypoint_move_xy_i ( uint8_t  wp_id,
int32_t  x,
int32_t  y 
)

Definition at line 150 of file waypoints.c.

References DefaultChannel, DefaultDevice, nb_waypoint, waypoint_set_xy_i(), and waypoints.

Referenced by moveWaypoint().

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void waypoint_position_copy ( uint8_t  wp_dest,
uint8_t  wp_src 
)
void waypoint_set_alt ( uint8_t  wp_id,
float  alt 
)

Set altitude of waypoint in meters (above reference)

Definition at line 169 of file waypoints.c.

References LlaCoor_i::alt, Waypoint::enu_f, Waypoint::enu_i, nb_waypoint, POS_BFP_OF_REAL, waypoint_globalize(), waypoints, EnuCoor_f::z, and EnuCoor_i::z.

Referenced by follow_me().

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void waypoint_set_alt_i ( uint8_t  wp_id,
int32_t  alt 
)

Definition at line 159 of file waypoints.c.

References LlaCoor_i::alt, Waypoint::enu_f, Waypoint::enu_i, nb_waypoint, POS_FLOAT_OF_BFP, waypoint_globalize(), waypoints, EnuCoor_f::z, and EnuCoor_i::z.

Referenced by georeference_project().

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void waypoint_set_enu ( uint8_t  wp_id,
struct EnuCoor_f enu 
)

Set local ENU waypoint coordinates.

Definition at line 113 of file waypoints.c.

References ENU_BFP_OF_REAL, Waypoint::enu_f, nb_waypoint, waypoint_globalize(), waypoints, WP_FLAG_ENU_F, WP_FLAG_ENU_I, and WP_FLAG_LLA_I.

Referenced by mavlink_wp_message_handler(), stereocam_droplet_periodic(), and waypoints_init().

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void waypoint_set_enu_i ( uint8_t  wp_id,
struct EnuCoor_i enu 
)

Definition at line 101 of file waypoints.c.

References ENU_FLOAT_OF_BFP, Waypoint::enu_i, nb_waypoint, waypoint_globalize(), waypoints, WP_FLAG_ENU_F, WP_FLAG_ENU_I, and WP_FLAG_LLA_I.

Referenced by follow_wp(), waypoint_move_enu_i(), and waypoint_set_here().

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void waypoint_set_global_flag ( uint8_t  wp_id)

Definition at line 63 of file waypoints.c.

References nb_waypoint, waypoints, and WP_FLAG_GLOBAL.

Referenced by waypoints_init().

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void waypoint_set_here ( uint8_t  wp_id)

set waypoint to current location and altitude

Definition at line 221 of file waypoints.c.

References nb_waypoint, stateGetPositionEnu_i(), stateGetPositionLla_i(), waypoint_is_global(), waypoint_set_enu_i(), and waypoint_set_lla().

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void waypoint_set_here_2d ( uint8_t  wp_id)

set waypoint to current horizontal location without modifying altitude

Definition at line 234 of file waypoints.c.

References nb_waypoint, stateGetPositionEnu_i(), stateGetPositionLla_i(), waypoint_is_global(), waypoint_set_latlon(), and waypoint_set_xy_i().

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void waypoint_set_latlon ( uint8_t  wp_id,
struct LlaCoor_i lla 
)

set waypoint latitude/longitude without updating altitude

Definition at line 209 of file waypoints.c.

References LlaCoor_i::lat, Waypoint::lla, LlaCoor_i::lon, nb_waypoint, waypoint_localize(), waypoints, and WP_FLAG_LLA_I.

Referenced by waypoint_set_here_2d().

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void waypoint_set_lla ( uint8_t  wp_id,
struct LlaCoor_i lla 
)

Definition at line 179 of file waypoints.c.

References Waypoint::lla, nb_waypoint, waypoint_localize(), waypoints, and WP_FLAG_LLA_I.

Referenced by mavlink_wp_message_handler(), waypoint_move_lla(), waypoint_set_here(), and waypoints_init().

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void waypoint_set_xy_i ( uint8_t  wp_id,
int32_t  x,
int32_t  y 
)

Set only local XY coordinates of waypoint without update altitude.

Todo:
: how to handle global waypoints?

Definition at line 138 of file waypoints.c.

References Waypoint::enu_f, Waypoint::enu_i, nb_waypoint, POS_FLOAT_OF_BFP, waypoint_globalize(), waypoints, EnuCoor_f::x, EnuCoor_i::x, EnuCoor_f::y, and EnuCoor_i::y.

Referenced by georeference_filter(), georeference_project(), run_avoid_navigation_onvision(), waypoint_move_xy_i(), and waypoint_set_here_2d().

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void waypoints_init ( void  )

initialize global and local waypoints

Definition at line 35 of file waypoints.c.

References Waypoint::flags, nb_waypoint, waypoint_set_enu(), waypoint_set_global_flag(), waypoint_set_lla(), and waypoints.

Referenced by nav_init().

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void waypoints_localize_all ( void  )

update local ENU coordinates of global waypoints

update local ENU coordinates of all global waypoints

Definition at line 293 of file waypoints.c.

References nb_waypoint, waypoint_is_global(), and waypoint_localize().

Referenced by main_init(), nav_reset_alt(), and nav_reset_reference().

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Variable Documentation