nav_flower.c File Reference

from OSAM advanced navigation routines More...

#include "modules/nav/nav_flower.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"

Include dependency graph for nav_flower.c:

Go to the source code of this file.

Enumerations
enum	FlowerStatus { Outside, FlowerLine, Circle }
	Makes a flower pattern. More...

Functions
void	nav_flower_setup (uint8_t CenterWP, uint8_t EdgeWP)
bool	nav_flower_run (void)

Variables
static enum FlowerStatus	CFlowerStatus
static float	CircleX
static float	CircleY
static float	Fly2X
static float	Fly2Y
static float	FlyFromX
static float	FlyFromY
static float	TransCurrentX
static float	TransCurrentY
static float	EdgeCurrentX
static float	EdgeCurrentY
static float	DistanceFromCenter
static float	FlowerTheta
static float	Flowerradius
static uint8_t	Center
static uint8_t	Edge

Detailed Description

from OSAM advanced navigation routines

Definition in file nav_flower.c.

Enumeration Type Documentation

enum FlowerStatus

Makes a flower pattern.

CenterWP is the center of the flower. The Navigation Height is taken from this waypoint. EdgeWP defines the radius of the flower (distance from CenterWP to EdgeWP)

Enumerator
Outside
FlowerLine
Circle

Definition at line 42 of file nav_flower.c.

Function Documentation

bool nav_flower_run

(

void

)

Definition at line 90 of file nav_flower.c.

References Center, CFlowerStatus, Circle, CircleX, CircleY, DistanceFromCenter, Edge, EdgeCurrentX, EdgeCurrentY, FlowerLine, Flowerradius, FlowerTheta, Fly2X, Fly2Y, FlyFromX, FlyFromY, nav_circle_XY(), nav_init_stage(), nav_radius, nav_route_xy(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, Outside, stateGetPositionEnu_f(), TransCurrentX, TransCurrentY, waypoints, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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void nav_flower_setup	(	uint8_t	CenterWP,
		uint8_t	EdgeWP
	)

Definition at line 60 of file nav_flower.c.

References Center, CFlowerStatus, CircleX, CircleY, DistanceFromCenter, Edge, EdgeCurrentX, EdgeCurrentY, FlowerLine, Flowerradius, FlowerTheta, Fly2X, Fly2Y, FlyFromX, FlyFromY, Outside, stateGetPositionEnu_f(), TransCurrentX, TransCurrentY, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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Variable Documentation

uint8_t Center

static

Definition at line 57 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

enum FlowerStatus CFlowerStatus

static

Definition at line 43 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float CircleX

static

Definition at line 44 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float CircleY

static

Definition at line 45 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float DistanceFromCenter

static

Definition at line 54 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

uint8_t Edge

static

Definition at line 58 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float EdgeCurrentX

static

Definition at line 52 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float EdgeCurrentY

static

Definition at line 53 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float Flowerradius

static

Definition at line 56 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float FlowerTheta

static

Definition at line 55 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float Fly2X

static

Definition at line 46 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float Fly2Y

static

Definition at line 47 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float FlyFromX

static

Definition at line 48 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float FlyFromY

static

Definition at line 49 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float TransCurrentX

static

Definition at line 50 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().

float TransCurrentY

static

Definition at line 51 of file nav_flower.c.

Referenced by nav_flower_run(), and nav_flower_setup().