common_nav.c File Reference

#include "subsystems/navigation/common_nav.h"
#include "generated/flight_plan.h"
#include "subsystems/ins.h"
#include "math/pprz_geodetic_float.h"

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Functions
void	compute_dist2_to_home (void)
	Computes squared distance to the HOME waypoint. More...
void	nav_reset_utm_zone (void)
	Reset the UTM zone to current GPS fix. More...
void	nav_reset_reference (void)
	Reset the geographic reference to the current GPS fix. More...
void	nav_reset_alt (void)
	Reset the altitude reference to the current GPS alt. More...
void	nav_update_waypoints_alt (void)
	Shift altitude of the waypoint according to a new ground altitude. More...
void	common_nav_periodic_task_4Hz ()
void	nav_move_waypoint (uint8_t wp_id, float ux, float uy, float alt)
	Move a waypoint to given UTM coordinates. More...

Variables
float	dist2_to_home
	squared distance to home waypoint More...
float	dist2_to_wp
	squared distance to next waypoint More...
bool	too_far_from_home
const uint8_t	nb_waypoint = NB_WAYPOINT
struct point	waypoints [NB_WAYPOINT] = WAYPOINTS_UTM
	size == nb_waypoint, waypoint 0 is a dummy waypoint More...
float	ground_alt
	size == nb_waypoint, waypoint 0 is a dummy waypoint More...
int32_t	nav_utm_east0 = NAV_UTM_EAST0
int32_t	nav_utm_north0 = NAV_UTM_NORTH0
uint8_t	nav_utm_zone0 = NAV_UTM_ZONE0
float	max_dist_from_home = MAX_DIST_FROM_HOME
static float	previous_ground_alt

Function Documentation

void common_nav_periodic_task_4Hz

(

void

)

Definition at line 117 of file common_nav.c.

References block_time, and stage_time.

Referenced by navigation_task().

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void compute_dist2_to_home

(

void

)

Computes squared distance to the HOME waypoint.

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Updates dist2_to_home and potentially sets too_far_from_home

Definition at line 50 of file common_nav.c.

References dist2_to_home, get_dist2_to_waypoint(), max_dist2_from_home, stateGetPositionEnu_f(), too_far_from_home, point::x, EnuCoor_f::x, point::y, and EnuCoor_f::y.

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void nav_move_waypoint	(	uint8_t	wp_id,
		float	ux,
		float	uy,
		float	alt
	)

Move a waypoint to given UTM coordinates.

Parameters

[in]	wp_id	Waypoint ID
[in]	ux	UTM x (east) coordinate
[in]	uy	UTM y (north) coordinate
[in]	alt	Altitude above MSL.

Definition at line 128 of file common_nav.c.

References point::a, UtmCoor_f::alt, max_dist_from_home, nav_utm_east0, nav_utm_north0, nb_waypoint, point::x, and point::y.

Referenced by firmware_parse_msg().

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void nav_reset_alt

(

void

)

Reset the altitude reference to the current GPS alt.

Definition at line 99 of file common_nav.c.

References UtmCoor_f::alt, ground_alt, ins_reset_altitude_ref(), previous_ground_alt, state, State::utm_origin_f, and waypoints_localize_all().

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void nav_reset_reference

(

void

)

Reset the geographic reference to the current GPS fix.

Definition at line 83 of file common_nav.c.

References UtmCoor_f::alt, UtmCoor_f::east, ground_alt, ins_reset_local_origin(), nav_utm_east0, nav_utm_north0, nav_utm_zone0, UtmCoor_f::north, previous_ground_alt, state, State::utm_origin_f, waypoints_localize_all(), and UtmCoor_f::zone.

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void nav_reset_utm_zone

(

void

)

Reset the UTM zone to current GPS fix.

Definition at line 66 of file common_nav.c.

References UtmCoor_f::alt, UtmCoor_f::east, ground_alt, ins_reset_utm_zone(), nav_utm_east0, nav_utm_north0, nav_utm_zone0, UtmCoor_f::north, and UtmCoor_f::zone.

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void nav_update_waypoints_alt

(

void

)

Shift altitude of the waypoint according to a new ground altitude.

Definition at line 109 of file common_nav.c.

References point::a, ground_alt, and previous_ground_alt.

Variable Documentation

float dist2_to_home

squared distance to home waypoint

Definition at line 32 of file common_nav.c.

Referenced by compute_dist2_to_home().

float dist2_to_wp

squared distance to next waypoint

Definition at line 33 of file common_nav.c.

float ground_alt

size == nb_waypoint, waypoint 0 is a dummy waypoint

altitude of the ground in m above MSL

Definition at line 40 of file common_nav.c.

Referenced by baro_ets_read_event(), baro_MS5534A_event(), cam_segment_periodic(), cam_waypoint_target(), formation_flight(), formation_init(), ins_alt_float_init(), ins_alt_float_update_baro(), nav_cube_run(), nav_home(), nav_init(), nav_reset_alt(), nav_reset_reference(), nav_reset_utm_zone(), nav_update_waypoints_alt(), send_nav_ref(), stop_formation(), tcas_init(), tcas_periodic_task_1Hz(), tcas_periodic_task_4Hz(), and vPoint().

float max_dist_from_home = MAX_DIST_FROM_HOME

Definition at line 45 of file common_nav.c.

Referenced by nav_move_waypoint().

int32_t nav_utm_east0 = NAV_UTM_EAST0

Definition at line 42 of file common_nav.c.

Referenced by copilot_parse_move_wp_dl(), DownlinkSendWp(), firmware_parse_msg(), ins_alt_float_init(), ins_float_invariant_init(), ins_gps_passthrough_init(), ins_xsens700_init(), ins_xsens_init(), mission_point_of_lla(), nav_move_waypoint(), nav_reset_reference(), nav_reset_utm_zone(), send_nav_ref(), and vPoint().

int32_t nav_utm_north0 = NAV_UTM_NORTH0

Definition at line 43 of file common_nav.c.

Referenced by copilot_parse_move_wp_dl(), DownlinkSendWp(), firmware_parse_msg(), ins_alt_float_init(), ins_float_invariant_init(), ins_gps_passthrough_init(), ins_xsens700_init(), ins_xsens_init(), mission_point_of_lla(), nav_move_waypoint(), nav_reset_reference(), nav_reset_utm_zone(), send_nav_ref(), and vPoint().

uint8_t nav_utm_zone0 = NAV_UTM_ZONE0

Definition at line 44 of file common_nav.c.

Referenced by copilot_parse_move_wp_dl(), DownlinkSendWp(), firmware_parse_msg(), gps_cb(), ins_alt_float_init(), ins_alt_float_update_gps(), ins_float_invariant_init(), ins_float_invariant_update_gps(), ins_gps_passthrough_init(), ins_xsens700_init(), ins_xsens_init(), mission_point_of_lla(), nav_reset_reference(), nav_reset_utm_zone(), send_nav_ref(), and vPoint().

const uint8_t nb_waypoint = NB_WAYPOINT

Definition at line 37 of file common_nav.c.

Referenced by cam_waypoint_target(), copilot_parse_move_wp_dl(), DownlinkSendWpNr(), nav_move_waypoint(), and send_wp_moved().

float previous_ground_alt

static

Definition at line 63 of file common_nav.c.

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

bool too_far_from_home

Definition at line 35 of file common_nav.c.

Referenced by compute_dist2_to_home().

struct point waypoints[NB_WAYPOINT] = WAYPOINTS_UTM

size == nb_waypoint, waypoint 0 is a dummy waypoint

Definition at line 38 of file common_nav.c.

Referenced by copilot_parse_move_wp_dl(), DownlinkSendWp(), firmware_parse_msg(), get_dist2_to_waypoint(), get_two_intersects(), gvf_ellipse_wp(), gvf_get_two_intersects(), gvf_line_wp1_wp2(), gvf_line_wp_heading(), gvf_nav_survey_polygon_setup(), gvf_segment_loop_wp1_wp2(), gvf_segment_wp1_wp2(), gvf_sin_wp1_wp2(), gvf_sin_wp_alpha(), mission_point_of_lla(), nav_anemotaxis(), nav_anemotaxis_downwind(), nav_anemotaxis_init(), nav_chemotaxis(), nav_chemotaxis_init(), nav_compute_baseleg(), nav_compute_final_from_glide(), nav_cube_run(), nav_cube_setup(), nav_eight(), nav_flower_run(), nav_glide(), nav_home(), nav_init(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_oval(), nav_skid_landing_glide(), nav_skid_landing_run(), nav_skid_landing_setup(), nav_spiral_setup(), nav_survey_computefourth_corner(), nav_survey_disc_run(), nav_survey_losange_carto(), nav_survey_losange_carto_init(), nav_survey_poly_osam_run(), nav_survey_poly_osam_setup(), nav_survey_poly_osam_setup_towards(), nav_survey_poly_run(), nav_survey_poly_setup(), nav_survey_poly_setup_towards(), nav_survey_polygon_setup(), nav_survey_rectangle(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), nav_survey_zamboni_setup(), nav_vertical_raster_run(), NavCircleWaypoint(), NavGlide(), NavGotoWaypoint(), NavGotoWaypointHeading(), navigation_update_wp_from_speed(), NavSegment(), rotorcraft_cam_periodic(), send_wp_moved(), and vPoint().