avoid_navigation.c File Reference

#include "avoid_navigation.h"
#include "state.h"
#include "navigation.h"
#include "generated/flight_plan.h"
#include "modules/stereocam/stereocam.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
#include "led.h"

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Macros
#define	DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Functions
void	init_avoid_navigation ()
void	run_avoid_navigation_onvision (void)
void	increase_nav_heading (int32_t *heading, int32_t increment)
	Increases the NAV heading. More...

Variables
struct AvoidNavigationStruct	avoid_navigation_data
	global VIDEO state More...
bool	obstacle_detected = false
int32_t	counter = 0

Macro Definition Documentation

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Definition at line 45 of file avoid_navigation.c.

Function Documentation

void increase_nav_heading	(	int32_t *	heading,
		int32_t	increment
	)

Increases the NAV heading.

Assumes heading is an INT32_ANGLE. It is bound in this function.

Definition at line 117 of file avoid_navigation.c.

References INT32_ANGLE_NORMALIZE.

void init_avoid_navigation

(

void

)

Definition at line 58 of file avoid_navigation.c.

References avoid_navigation_data, and AvoidNavigationStruct::mode.

Referenced by stereo_avoid_init().

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void run_avoid_navigation_onvision

(

void

)

Definition at line 65 of file avoid_navigation.c.

References ANGLE_FLOAT_OF_BFP, avoid_navigation_data, counter, DefaultChannel, DefaultDevice, AvoidNavigationStruct::mode, nav_heading, NAV_LINE_AVOID_SEGMENT_LENGTH, obstacle_detected, POS_BFP_OF_REAL, stateGetPositionEnu_i(), AvoidNavigationStruct::stereo_bin, waypoint_set_xy_i(), EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by stereo_avoid_run().

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Variable Documentation

struct AvoidNavigationStruct avoid_navigation_data

global VIDEO state

Definition at line 53 of file avoid_navigation.c.

Referenced by init_avoid_navigation(), and run_avoid_navigation_onvision().

int32_t counter = 0

Definition at line 55 of file avoid_navigation.c.

Referenced by actuators_esc32_play_melody(), airspeed_otf_parse(), file_logger_periodic(), file_logger_start(), high_speed_logger_spi_link_periodic(), periodic_light(), run_avoid_navigation_onvision(), save_shot_on_disk(), stereo_avoid_run(), video_usb_logger_start(), and wind_estimator_init().

bool obstacle_detected = false

Definition at line 54 of file avoid_navigation.c.

Referenced by run_avoid_navigation_onvision(), and stereocam_droplet_periodic().