Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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anemotaxis.c File Reference
#include "modules/enose/anemotaxis.h"
#include "generated/airframe.h"
#include "estimator.h"
#include "std.h"
#include "subsystems/nav.h"
#include "generated/flight_plan.h"
#include "ap_downlink.h"
#include "modules/enose/chemo_detect.h"
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Go to the source code of this file.

Enumerations

enum  status {
  UTURN, CROSSWIND, UTURN, SEGMENT,
  DOWNWIND
}
 

Functions

static void last_plume_was_here (void)
 
bool_t nav_anemotaxis_downwind (uint8_t c, float radius)
 
bool_t nav_anemotaxis_init (uint8_t c)
 
bool_t nav_anemotaxis (uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume)
 

Variables

static enum status status
 
static int8_t sign
 
static struct point last_plume
 

Enumeration Type Documentation

enum status
Enumerator
UTURN 
CROSSWIND 
UTURN 
SEGMENT 
DOWNWIND 

Definition at line 10 of file anemotaxis.c.

Function Documentation

static void last_plume_was_here ( void  )
static

Definition at line 15 of file anemotaxis.c.

References estimator_x, estimator_y, last_plume, point::x, and point::y.

Referenced by nav_anemotaxis(), and nav_anemotaxis_init().

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bool_t nav_anemotaxis ( uint8_t  c,
uint8_t  c1,
uint8_t  c2,
uint8_t  plume 
)

Not null even if wind_east=wind_north=0

Definition at line 37 of file anemotaxis.c.

References c, c1, c2, chemo_sensor, CROSSWIND, DEFAULT_CIRCLE_RADIUS, estimator_x, estimator_y, last_plume, last_plume_was_here(), Max, nav_init_stage(), NavApproaching, NavCircleWaypoint, NavQdrCloseTo, NavSegment, sign, TRUE, UTURN, waypoints, wind_east, wind_north, point::x, EnuCoor_i::x, point::y, and EnuCoor_i::y.

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bool_t nav_anemotaxis_downwind ( uint8_t  c,
float  radius 
)

Definition at line 20 of file anemotaxis.c.

References c, FALSE, waypoints, wind_east, wind_north, EnuCoor_i::x, and EnuCoor_i::y.

bool_t nav_anemotaxis_init ( uint8_t  c)

Definition at line 27 of file anemotaxis.c.

References c, DEFAULT_CIRCLE_RADIUS, estimator_x, estimator_y, FALSE, last_plume_was_here(), sign, UTURN, waypoints, wind_east, wind_north, EnuCoor_i::x, and EnuCoor_i::y.

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Variable Documentation

struct point last_plume
static

Definition at line 13 of file anemotaxis.c.

Referenced by last_plume_was_here(), and nav_anemotaxis().

int8_t sign
static

Definition at line 12 of file anemotaxis.c.

Referenced by nav_anemotaxis(), and nav_anemotaxis_init().

enum status status
static

Definition at line 11 of file anemotaxis.c.