avoid_navigation.h File Reference

#include <std.h>

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Data Structures
struct	AvoidNavigationStruct

Macros
#define	NAV_LINE_AVOID_SEGMENT_LENGTH   2.0

Functions
void	init_avoid_navigation (void)
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

Detailed Description

• while flying a route from A -> B
• when

Definition in file avoid_navigation.h.

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Data Structure Documentation

struct AvoidNavigationStruct

Definition at line 69 of file stereocam_droplet.c.

Data Fields
uint8_t	mode	0 = straight, 1 = right, 2 = left, ... 0 = nothing, 1 = climb, 2 = sideways, ...
uint8_t	stereo_bin[8]
uint8_t	timeout

Macro Definition Documentation

#define NAV_LINE_AVOID_SEGMENT_LENGTH   2.0

Definition at line 38 of file avoid_navigation.h.

Referenced by run_avoid_navigation_onvision().

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 51 of file orange_avoider.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 75 of file stereocam_droplet.c.

Referenced by init_avoid_navigation(), run_avoid_navigation_onvision(), stereo_avoid_init(), stereo_avoid_run(), stereo_parse(), stereocam_droplet_init(), and stereocam_droplet_periodic().

bool obstacle_detected

Definition at line 54 of file avoid_navigation.c.

Referenced by run_avoid_navigation_onvision(), and stereocam_droplet_periodic().