Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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gls.c File Reference

gps landing system More...

#include "generated/airframe.h"
#include "estimator.h"
#include "subsystems/navigation/gls.h"
#include "subsystems/nav.h"
#include "generated/flight_plan.h"
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Go to the source code of this file.

Macros

#define APP_TARGET_SPEED   V_CTL_AUTO_AIRSPEED_SETPOINT;
 
#define APP_ANGLE   RadOfDeg(5);
 
#define APP_INTERCEPT_AF_TOD   100
 

Functions

static bool_t gls_compute_TOD (uint8_t _af, uint8_t _tod, uint8_t _td)
 
bool_t gls_init (uint8_t _af, uint8_t _tod, uint8_t _td)
 
bool_t gls (uint8_t _af, uint8_t _tod, uint8_t _td)
 

Variables

float target_speed
 
float app_angle
 
float app_intercept_af_tod
 
bool_t init = TRUE
 

Detailed Description

gps landing system

gps landing system -automatic calculation of top of decent for const app angle -smooth intercept posible -landing direction is set by app fix / also possible in flight!!!

in airframe.xml it is possible to define

  1. target_speed
  2. app_angle
  3. app_intercept_af_tod

1 - only efective with useairspeed flag 2 - defauld is a approach angle of 5 degree which should be fine for most planes 3 - distance between approach fix and top of decent

Definition in file gls.c.

Macro Definition Documentation

#define APP_ANGLE   RadOfDeg(5);

Definition at line 66 of file gls.c.

Referenced by gls_init().

#define APP_INTERCEPT_AF_TOD   100

Definition at line 70 of file gls.c.

Referenced by gls_init().

#define APP_TARGET_SPEED   V_CTL_AUTO_AIRSPEED_SETPOINT;

Definition at line 62 of file gls.c.

Referenced by gls_init().

Function Documentation

static bool_t gls_compute_TOD ( uint8_t  _af,
uint8_t  _tod,
uint8_t  _td 
)
inlinestatic

Definition at line 74 of file gls.c.

References app_angle, app_intercept_af_tod, FALSE, WaypointAlt, WaypointX, and WaypointY.

Referenced by gls_init().

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bool_t gls_init ( uint8_t  _af,
uint8_t  _tod,
uint8_t  _td 
)

Definition at line 99 of file gls.c.

References app_angle, APP_ANGLE, app_intercept_af_tod, APP_INTERCEPT_AF_TOD, APP_TARGET_SPEED, FALSE, gls_compute_TOD(), init, target_speed, and TRUE.

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Variable Documentation

float app_angle

Definition at line 56 of file gls.c.

Referenced by gls_compute_TOD(), and gls_init().

float app_intercept_af_tod

Definition at line 57 of file gls.c.

Referenced by gls_compute_TOD(), and gls_init().

bool_t init = TRUE

Definition at line 59 of file gls.c.

Referenced by gls(), gls_init(), and main().

float target_speed

Definition at line 55 of file gls.c.

Referenced by gls(), and gls_init().