Rotorcraft navigation functions. More...

#include "firmwares/rotorcraft/navigation.h"
#include "pprz_debug.h"
#include "subsystems/gps.h"
#include "subsystems/ins.h"
#include "state.h"
#include "autopilot.h"
#include "generated/modules.h"
#include "generated/flight_plan.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "math/pprz_algebra_int.h"
#include "subsystems/datalink/downlink.h"
#include "pprzlink/messages.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/telemetry.h"
#include <stdio.h>

Include dependency graph for navigation.c:

Go to the source code of this file.

Macros
#define	NAV_C

#define	DEFAULT_CIRCLE_RADIUS 5.
	default nav_circle_radius in meters More...

#define	NAV_CLIMB_VSPEED 0.5

#define	NAV_DESCEND_VSPEED -0.8

#define	ARRIVED_AT_WAYPOINT 3.0
	minimum horizontal distance to waypoint to mark as arrived More...

#define	FAILSAFE_MODE_DISTANCE (1.5*MAX_DIST_FROM_HOME)
	Maximum distance from HOME waypoint before going into failsafe mode. More...

#define	CLOSE_TO_WAYPOINT (15 << INT32_POS_FRAC)

#define	CARROT_DIST (12 << INT32_POS_FRAC)

#define	LINE_START_FUNCTION {}

#define	LINE_STOP_FUNCTION {}

Enumerations
enum	oval_status { OR12, OC2, OR21, OC1, OR12, OC2, OR21, OC1 }

Functions
static void	nav_set_altitude (void)

void	set_exception_flag (uint8_t flag_num)

static void	send_segment (struct transport_tx trans, struct link_device dev)

static void	send_circle (struct transport_tx trans, struct link_device dev)

static void	send_nav_status (struct transport_tx trans, struct link_device dev)

static void	send_wp_moved (struct transport_tx trans, struct link_device dev)

void	nav_init (void)
	Navigation Initialisation. More...

static void UNUSED	nav_advance_carrot (void)

void	nav_run (void)

bool	nav_approaching_from (struct EnuCoor_i wp, struct EnuCoor_i from, int16_t approaching_time)
	Proximity tests on approaching a wp. More...

bool	nav_check_wp_time (struct EnuCoor_i *wp, uint16_t stay_time)
	Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp. More...

void	nav_reset_reference (void)
	Reset the geographic reference to the current GPS fix. More...

void	nav_reset_alt (void)

void	nav_init_stage (void)
	needs to be implemented by fixedwing and rotorcraft seperately More...

void	nav_periodic_task (void)
	Navigation main: call to the code generated from the XML flight plan. More...

void	navigation_update_wp_from_speed (uint8_t wp, struct Int16Vect3 speed_sp, int16_t heading_rate_sp)

bool	nav_detect_ground (void)

bool	nav_is_in_flight (void)

void	nav_home (void)
	Home mode navigation. More...

void	nav_set_manual (int32_t roll, int32_t pitch, int32_t yaw)
	Set manual roll, pitch and yaw without stabilization. More...

float	get_dist2_to_point (struct EnuCoor_i *p)
	Returns squared horizontal distance to given point. More...

float	get_dist2_to_waypoint (uint8_t wp_id)
	Returns squared horizontal distance to given waypoint. More...

void	compute_dist2_to_home (void)
	Computes squared distance to the HOME waypoint potentially sets too_far_from_home. More...

void	nav_set_heading_rad (float rad)
	Set nav_heading in radians. More...

void	nav_set_heading_deg (float deg)
	Set nav_heading in degrees. More...

void	nav_set_heading_towards (float x, float y)
	Set heading to point towards x,y position in local coordinates. More...

void	nav_set_heading_towards_waypoint (uint8_t wp)
	Set heading in the direction of a waypoint. More...

void	nav_set_heading_towards_target (void)
	Set heading in the direction of the target. More...

void	nav_set_heading_current (void)
	Set heading to the current yaw angle. More...

void	nav_set_failsafe (void)

void	nav_circle (struct EnuCoor_i *wp_center, int32_t radius)

void	nav_route (struct EnuCoor_i wp_start, struct EnuCoor_i wp_end)

void	nav_oval_init (void)

void	nav_oval (uint8_t p1, uint8_t p2, float radius)
	Navigation along a figure O. More...

void	nav_follow (uint8_t _ac_id, uint32_t distance, uint32_t height)

Variables
const float	max_dist_from_home = MAX_DIST_FROM_HOME

const float	max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME

float	failsafe_mode_dist2 = FAILSAFE_MODE_DISTANCE * FAILSAFE_MODE_DISTANCE
	maximum squared distance to home wp before going to failsafe mode More...

float	dist2_to_home
	squared distance to home waypoint More...

bool	too_far_from_home

float	dist2_to_wp
	squared distance to next waypoint More...

struct EnuCoor_i	navigation_target

struct EnuCoor_i	navigation_carrot

struct EnuCoor_i	nav_last_point

uint8_t last_wp	UNUSED

bool	exception_flag [10] = {0}

uint8_t	horizontal_mode

int32_t	nav_leg_progress

uint32_t	nav_leg_length

bool	nav_survey_active

int32_t	nav_roll

int32_t	nav_pitch
	with INT32_ANGLE_FRAC More...

int32_t	nav_heading
	with INT32_ANGLE_FRAC More...

int32_t	nav_cmd_roll

int32_t	nav_cmd_pitch

int32_t	nav_cmd_yaw

float	nav_radius

float	nav_climb_vspeed

float	nav_descend_vspeed

uint8_t	vertical_mode

uint32_t	nav_throttle
	direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL More...

int32_t	nav_climb

int32_t	nav_altitude

int32_t	nav_flight_altitude

float	flight_altitude
	Dynamically adjustable, reset to nav_altitude when it is changing. More...

struct EnuCoor_i	nav_circle_center

int32_t	nav_circle_radius

int32_t	nav_circle_qdr

int32_t	nav_circle_radians
	Status on the current circle. More...

struct EnuCoor_i nav_segment_start	nav_segment_end

enum oval_status	oval_status

uint8_t	nav_oval_count
	Navigation along a figure O. More...

Detailed Description

Rotorcraft navigation functions.

Definition in file navigation.c.

Macro Definition Documentation

#define ARRIVED_AT_WAYPOINT 3.0

minimum horizontal distance to waypoint to mark as arrived

Definition at line 68 of file navigation.c.

Referenced by nav_approaching_from(), and nav_check_wp_time().

#define CARROT_DIST (12 << INT32_POS_FRAC)

Definition at line 77 of file navigation.c.

Referenced by nav_advance_carrot(), nav_circle(), and nav_route().

#define CLOSE_TO_WAYPOINT (15 << INT32_POS_FRAC)

Definition at line 76 of file navigation.c.

Referenced by nav_advance_carrot().

#define DEFAULT_CIRCLE_RADIUS 5.

default nav_circle_radius in meters

Definition at line 55 of file navigation.c.

Referenced by nav_anemotaxis(), nav_anemotaxis_init(), nav_chemotaxis(), and nav_init().

#define FAILSAFE_MODE_DISTANCE (1.5*MAX_DIST_FROM_HOME)

Maximum distance from HOME waypoint before going into failsafe mode.

Definition at line 73 of file navigation.c.

#define LINE_START_FUNCTION {}

Definition at line 615 of file navigation.c.

Referenced by nav_oval().

#define LINE_STOP_FUNCTION {}

Definition at line 618 of file navigation.c.

Referenced by nav_oval().

#define NAV_C

Definition at line 29 of file navigation.c.

#define NAV_CLIMB_VSPEED 0.5

Definition at line 59 of file navigation.c.

Referenced by nav_init().

#define NAV_DESCEND_VSPEED -0.8

Definition at line 63 of file navigation.c.

Referenced by nav_init().

Enumeration Type Documentation

enum oval_status

Enumerator
OR12
OC2
OR21
OC1
OR12
OC2
OR21
OC1

Definition at line 621 of file navigation.c.

Function Documentation

void compute_dist2_to_home ( void )

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Definition at line 473 of file navigation.c.

Referenced by autopilot_static_periodic(), nav_home(), and nav_periodic_task().

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float get_dist2_to_point ( struct EnuCoor_i * p )

Returns squared horizontal distance to given point.

Definition at line 455 of file navigation.c.

References POS_FLOAT_OF_BFP, stateGetPositionEnu_f(), FloatVect2::x, EnuCoor_f::x, EnuCoor_i::x, FloatVect2::y, EnuCoor_f::y, and EnuCoor_i::y.

Referenced by get_dist2_to_waypoint(), nav_circle(), and nav_route().

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float get_dist2_to_waypoint ( uint8_t wp_id )

Returns squared horizontal distance to given waypoint.

Definition at line 465 of file navigation.c.

References get_dist2_to_point(), and waypoints.

Referenced by compute_dist2_to_home(), NavGotoWaypoint(), and NavGotoWaypointHeading().

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static void UNUSED nav_advance_carrot ( void )

inlinestatic

Definition at line 221 of file navigation.c.

References CARROT_DIST, CLOSE_TO_WAYPOINT, int32_vect2_norm(), navigation_carrot, navigation_target, stateGetPositionEnu_i(), VECT2_COPY, VECT2_DIFF, VECT2_SDIV, VECT2_SMUL, VECT2_STRIM, and VECT2_SUM.

Referenced by nav_run().

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bool nav_approaching_from	(	struct EnuCoor_i *	wp,
		struct EnuCoor_i *	from,
		int16_t	approaching_time
	)

Proximity tests on approaching a wp.

Definition at line 257 of file navigation.c.

References ARRIVED_AT_WAYPOINT, float_vect2_norm(), INT32_POS_FRAC, INT32_SPEED_FRAC, INT32_VECT2_RSHIFT, POS_FLOAT_OF_BFP, stateGetPositionEnu_i(), stateGetSpeedEnu_i(), VECT2_DIFF, VECT2_SMUL, VECT2_SUM, FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

Referenced by mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_oval(), nav_survey_poly_run(), and nav_survey_rectangle_rotorcraft_run().

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bool nav_check_wp_time	(	struct EnuCoor_i *	wp,
		uint16_t	stay_time
	)

Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp.

Definition at line 301 of file navigation.c.

References ARRIVED_AT_WAYPOINT, autopilot, pprz_autopilot::flight_time, float_vect2_norm(), INT_VECT3_ZERO, POS_FLOAT_OF_BFP, stateGetPositionEnu_i(), VECT2_DIFF, EnuCoor_i::x, Int32Vect2::x, EnuCoor_i::y, and Int32Vect2::y.

Referenced by mission_nav_path(), mission_nav_segment(), and mission_nav_wp().

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void nav_circle	(	struct EnuCoor_i *	wp_center,
		int32_t	radius
	)

Definition at line 538 of file navigation.c.

References CARROT_DIST, dist2_to_wp, get_dist2_to_point(), horizontal_mode, HORIZONTAL_MODE_CIRCLE, INT32_ANGLE_FRAC, INT32_ANGLE_NORMALIZE, INT32_ANGLE_PI, INT32_ANGLE_PI_4, int32_atan2(), INT32_TRIG_FRAC, INT32_VECT2_RSHIFT, nav_circle_center, nav_circle_qdr, nav_circle_radians, nav_circle_radius, navigation_target, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, radius, stateGetPositionEnu_i(), VECT2_ASSIGN, VECT2_COPY, VECT2_DIFF, VECT2_SUM, Int32Vect2::x, and Int32Vect2::y.

Referenced by mission_nav_circle(), nav_oval(), and NavCircleWaypoint().

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bool nav_detect_ground ( void )

Definition at line 408 of file navigation.c.

References autopilot, and pprz_autopilot::ground_detected.

void nav_follow	(	uint8_t	_ac_id,
		uint32_t	distance,
		uint32_t	height
	)

Definition at line 738 of file navigation.c.

void nav_home ( void )

Home mode navigation.

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 421 of file navigation.c.

References compute_dist2_to_home(), dist2_to_home, dist2_to_wp, FAILSAFE_HOME_RADIUS, ground_alt, horizontal_mode, HORIZONTAL_MODE_WAYPOINT, nav_altitude, nav_flight_altitude, nav_run(), nav_set_altitude(), NavCircleWaypoint, navigation_target, v_ctl_mode, V_CTL_MODE_AUTO_ALT, VECT3_COPY, vertical_mode, VERTICAL_MODE_ALT, and waypoints.

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void nav_init ( void )

Navigation Initialisation.

Definition at line 179 of file navigation.c.

References DEFAULT_CIRCLE_RADIUS, DefaultPeriodic, dist2_to_home, dist2_to_wp, flight_altitude, ground_alt, horizontal_mode, HORIZONTAL_MODE_WAYPOINT, nav_altitude, nav_block, nav_climb, NAV_CLIMB_VSPEED, nav_climb_vspeed, nav_cmd_pitch, nav_cmd_roll, nav_cmd_yaw, NAV_DESCEND_VSPEED, nav_descend_vspeed, nav_flight_altitude, NAV_GLIDE_PITCH_TRIM, nav_heading, nav_leg_length, nav_leg_progress, NAV_MODE_COURSE, nav_pitch, nav_radius, nav_roll, nav_stage, nav_throttle, navigation_carrot, navigation_target, POS_BFP_OF_REAL, register_periodic_telemetry(), send_circle(), send_nav(), send_nav_ref(), send_nav_status(), send_segment(), send_survey(), send_wp_moved(), too_far_from_home, VECT3_COPY, vertical_mode, VERTICAL_MODE_ALT, waypoints, and waypoints_init().

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void nav_init_stage ( void )

needs to be implemented by fixedwing and rotorcraft seperately

Definition at line 361 of file navigation.c.

References nav_circle_radians, nav_last_point, stage_time, stateGetPositionEnu_f(), stateGetPositionEnu_i(), VECT3_COPY, EnuCoor_f::x, and EnuCoor_f::y.

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bool nav_is_in_flight ( void )

Definition at line 415 of file navigation.c.

References autopilot_in_flight().

Referenced by follow_me().

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void nav_oval	(	uint8_t	p1,
		uint8_t	p2,
		float	radius
	)

Navigation along a figure O.

One side leg is defined by waypoints [p1] and [p2]. The navigation goes through 4 states: OC1 (half circle next to [p1]), OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 (opposite leg). Initial state is the route along the desired segment (OC2).

Definition at line 637 of file navigation.c.

References point::a, ANGLE_BFP_OF_REAL, CARROT, InitStage, INT32_ANGLE_PI, int32_atan2_2(), INT32_DEG_OF_RAD, LINE_START_FUNCTION, LINE_STOP_FUNCTION, nav_approaching_from(), nav_approaching_xy(), nav_circle(), nav_circle_XY(), nav_oval_count, nav_route(), nav_route_xy(), NavQdrCloseTo, OC1, OC2, OR12, OR21, POS_BFP_OF_REAL, radius, waypoints, point::x, and point::y.

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void nav_oval_init ( void )

Definition at line 625 of file navigation.c.

References nav_oval_count, and OC2.

void nav_periodic_task ( void )

Navigation main: call to the code generated from the XML flight plan.

Definition at line 369 of file navigation.c.

References block_time, compute_dist2_to_home(), dist2_to_wp, h_ctl_course_pre_bank, NAV_FREQ, nav_run(), nav_set_altitude(), nav_survey_active, stage_time, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_mode, and V_CTL_MODE_AUTO_CLIMB.

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void nav_reset_alt ( void )

Definition at line 355 of file navigation.c.

void nav_reset_reference ( void )

Reset the geographic reference to the current GPS fix.

Definition at line 348 of file navigation.c.

void nav_route	(	struct EnuCoor_i *	wp_start,
		struct EnuCoor_i *	wp_end
	)

Definition at line 584 of file navigation.c.

References CARROT_DIST, dist2_to_wp, get_dist2_to_point(), horizontal_mode, HORIZONTAL_MODE_ROUTE, INT32_POS_FRAC, int32_sqrt(), INT32_VECT2_RSHIFT, Max, nav_leg_length, nav_leg_progress, nav_segment_end, navigation_target, stateGetPositionEnu_i(), VECT2_COPY, VECT2_DIFF, VECT2_SMUL, VECT2_SUM, Int32Vect2::x, and Int32Vect2::y.

Referenced by mission_nav_path(), mission_nav_segment(), nav_oval(), nav_survey_poly_run(), nav_survey_rectangle_rotorcraft_run(), and NavSegment().

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void nav_run ( void )

Definition at line 243 of file navigation.c.

References nav_advance_carrot(), nav_set_altitude(), navigation_carrot, navigation_target, and VECT2_COPY.

Referenced by nav_home(), and nav_periodic_task().

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static void nav_set_altitude ( void )

inlinestatic

Definition at line 337 of file navigation.c.

References nav_altitude, nav_flight_altitude, and POS_BFP_OF_REAL.

Referenced by nav_run().

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void nav_set_failsafe ( void )

Definition at line 528 of file navigation.c.

References AP_MODE_FAILSAFE, and autopilot_set_mode().

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void nav_set_heading_current ( void )

Set heading to the current yaw angle.

Definition at line 523 of file navigation.c.

References nav_heading, Int32Eulers::psi, and stateGetNedToBodyEulers_i().

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void nav_set_heading_deg ( float deg )

Set nav_heading in degrees.

Definition at line 491 of file navigation.c.

References nav_set_heading_rad().

Referenced by nav_survey_poly_setup(), and nav_survey_rectangle_rotorcraft_setup().

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void nav_set_heading_rad ( float rad )

Set nav_heading in radians.

Definition at line 484 of file navigation.c.

References ANGLE_BFP_OF_REAL, INT32_COURSE_NORMALIZE, and nav_heading.

Referenced by nav_set_heading_deg(), and stereocam_droplet_periodic().

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void nav_set_heading_towards	(	float	x,
		float	y
	)

Set heading to point towards x,y position in local coordinates.

Definition at line 497 of file navigation.c.

References ANGLE_BFP_OF_REAL, nav_heading, stateGetPositionEnu_f(), VECT2_DIFF, VECT2_NORM2, FloatVect2::x, and FloatVect2::y.

Referenced by nav_set_heading_towards_target(), and nav_set_heading_towards_waypoint().

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void nav_set_heading_towards_target ( void )

Set heading in the direction of the target.

Definition at line 516 of file navigation.c.

References nav_set_heading_towards(), navigation_target, POS_FLOAT_OF_BFP, EnuCoor_i::x, and EnuCoor_i::y.

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void nav_set_heading_towards_waypoint ( uint8_t wp )

Set heading in the direction of a waypoint.

Definition at line 510 of file navigation.c.

References nav_set_heading_towards(), WaypointX, and WaypointY.

Referenced by NavGotoWaypointHeading().

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void nav_set_manual	(	int32_t	roll,
		int32_t	pitch,
		int32_t	yaw
	)

Set manual roll, pitch and yaw without stabilization.

Parameters

[in]	roll	command in pprz scale (int32_t)
[in]	pitch	command in pprz scale (int32_t)
[in]	yaw	command in pprz scale (int32_t)

This function allows to directly set commands from the flight plan, if in nav_manual mode. This is for instance useful for helicopters during the spinup

Definition at line 446 of file navigation.c.

References horizontal_mode, HORIZONTAL_MODE_MANUAL, nav_cmd_pitch, nav_cmd_roll, and nav_cmd_yaw.

void navigation_update_wp_from_speed	(	uint8_t	wp,
		struct Int16Vect3	speed_sp,
		int16_t	heading_rate_sp
	)

Definition at line 384 of file navigation.c.

References DefaultChannel, DefaultDevice, INT32_COURSE_NORMALIZE, INT32_POS_FRAC, INT32_SPEED_FRAC, INT32_TRIG_FRAC, INT32_VECT3_RSHIFT, NAV_FREQ, nav_heading, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, VECT3_SDIV, waypoints, point::x, Int32Vect3::x, point::y, Int32Vect3::y, and Int32Vect3::z.

Referenced by vi_update_wp().

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static void send_circle	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 142 of file navigation.c.

References nav_circle_center, nav_circle_radius, POS_FLOAT_OF_BFP, EnuCoor_i::x, and EnuCoor_i::y.

Referenced by send_nav_status().

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static void send_nav_status	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 150 of file navigation.c.

References block_time, dist2_to_home, dist2_to_wp, horizontal_mode, HORIZONTAL_MODE_CIRCLE, HORIZONTAL_MODE_ROUTE, nav_block, nav_stage, send_circle(), send_segment(), and stage_time.

Referenced by nav_init().

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static void send_segment	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 133 of file navigation.c.

References nav_segment_end, POS_FLOAT_OF_BFP, EnuCoor_i::x, and EnuCoor_i::y.

Referenced by send_nav_status().

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static void send_wp_moved	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 166 of file navigation.c.

References nb_waypoint, waypoints, point::x, and point::y.

Referenced by nav_init().

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void set_exception_flag ( uint8_t flag_num )

Definition at line 128 of file navigation.c.

References exception_flag.

Variable Documentation

float dist2_to_home

squared distance to home waypoint

Definition at line 82 of file navigation.c.

Referenced by autopilot_static_periodic(), compute_dist2_to_home(), monitor_task(), nav_home(), nav_init(), and send_nav_status().

float dist2_to_wp

squared distance to next waypoint

Definition at line 85 of file navigation.c.

Referenced by nav_approaching_xy(), nav_circle(), nav_home(), nav_init(), nav_periodic_task(), nav_route(), and send_nav_status().

bool exception_flag[10] = {0}

Definition at line 94 of file navigation.c.

Referenced by set_exception_flag().

float failsafe_mode_dist2 = FAILSAFE_MODE_DISTANCE * FAILSAFE_MODE_DISTANCE

maximum squared distance to home wp before going to failsafe mode

Definition at line 81 of file navigation.c.

Referenced by autopilot_static_periodic().

float flight_altitude

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 112 of file navigation.c.

Referenced by nav_init().

uint8_t horizontal_mode

Definition at line 96 of file navigation.c.

Referenced by nav_circle(), nav_home(), nav_init(), nav_route(), nav_set_manual(), and send_nav_status().

const float max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME

Definition at line 80 of file navigation.c.

Referenced by compute_dist2_to_home().

const float max_dist_from_home = MAX_DIST_FROM_HOME

Definition at line 79 of file navigation.c.

Referenced by mission_point_of_lla().

int32_t nav_altitude

Definition at line 111 of file navigation.c.

Referenced by nav_home(), nav_init(), and nav_set_altitude().

struct EnuCoor_i nav_circle_center

Definition at line 115 of file navigation.c.

Referenced by nav_circle(), and send_circle().

int32_t nav_circle_qdr

Definition at line 116 of file navigation.c.

Referenced by nav_circle().

int32_t nav_circle_radians

Status on the current circle.

Definition at line 116 of file navigation.c.

Referenced by nav_circle(), and nav_init_stage().

int32_t nav_circle_radius

Definition at line 116 of file navigation.c.

Referenced by nav_circle(), and send_circle().

int32_t nav_climb

Definition at line 111 of file navigation.c.

Referenced by nav_init().

float nav_climb_vspeed

Definition at line 107 of file navigation.c.

Referenced by nav_init().

int32_t nav_cmd_pitch

Definition at line 105 of file navigation.c.

Referenced by guidance_h_from_nav(), nav_heli_spinup_run(), nav_heli_spinup_setup(), nav_init(), and nav_set_manual().

int32_t nav_cmd_roll

Definition at line 105 of file navigation.c.

Referenced by guidance_h_from_nav(), nav_heli_spinup_run(), nav_heli_spinup_setup(), nav_init(), and nav_set_manual().

int32_t nav_cmd_yaw

Definition at line 105 of file navigation.c.

Referenced by guidance_h_from_nav(), nav_heli_spinup_run(), nav_heli_spinup_setup(), nav_init(), and nav_set_manual().

float nav_descend_vspeed

Definition at line 107 of file navigation.c.

Referenced by nav_init().

int32_t nav_flight_altitude

Definition at line 111 of file navigation.c.

Referenced by guidance_v_from_nav(), nav_home(), nav_init(), and nav_set_altitude().

int32_t nav_heading

with INT32_ANGLE_FRAC

Definition at line 104 of file navigation.c.

Referenced by follow_me(), guidance_h_from_nav(), guidance_h_nav_enter(), moveWaypointForwards(), nav_init(), nav_set_heading_current(), nav_set_heading_rad(), nav_set_heading_towards(), navigation_update_wp_from_speed(), rotorcraft_cam_periodic(), run_avoid_navigation_onvision(), and stereocam_droplet_periodic().

struct EnuCoor_i nav_last_point

Definition at line 90 of file navigation.c.

Referenced by nav_init_stage().

uint32_t nav_leg_length

Definition at line 99 of file navigation.c.

Referenced by nav_init(), and nav_route().

int32_t nav_leg_progress

Definition at line 98 of file navigation.c.

Referenced by nav_init(), nav_route(), and NavGlide().

uint8_t nav_oval_count

Navigation along a figure O.

One side leg is defined by waypoints [p1] and [p2]. The navigation goes through 4 states: OC1 (half circle next to [p1]), OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 (opposite leg).

Initial state is the route along the desired segment (OC2).

Definition at line 623 of file navigation.c.

Referenced by nav_oval(), and nav_oval_init().

int32_t nav_pitch

with INT32_ANGLE_FRAC

Definition at line 103 of file navigation.c.

Referenced by nav_init().

float nav_radius

Definition at line 106 of file navigation.c.

Referenced by nav_init().

int32_t nav_roll

Definition at line 103 of file navigation.c.