vi_datalink.h File Reference

#include "std.h"
#include "modules/vehicle_interface/vi.h"
#include "math/pprz_algebra_int.h"

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Macros
#define	VI_MAX_H_SPEED   4.
#define	VI_MAX_V_SPEED   2.
#define	VI_MAX_HEADING_RATE   RadOfDeg(60.)
#define	VI_LIMIT_ATTITUDE(_x)   {}
#define	VI_PARSE_DATALINK(_dl_buffer)
#define	VI_NAV_STICK_PARSE_DL(_dl_buffer)
#define	NavUpdateWPFromVI(_wp)   { if (vi.enabled) { vi_update_wp(uint8_t _wp); } }

Functions
void	vi_update_wp (uint8_t wp_id)

Macro Definition Documentation

#define NavUpdateWPFromVI

(

_wp

)

{ if (vi.enabled) { vi_update_wp(uint8_t _wp); } }

Definition at line 114 of file vi_datalink.h.

#define VI_LIMIT_ATTITUDE

(

_x

)

{}

Definition at line 49 of file vi_datalink.h.

#define VI_MAX_H_SPEED   4.

Definition at line 30 of file vi_datalink.h.

#define VI_MAX_HEADING_RATE   RadOfDeg(60.)

Definition at line 38 of file vi_datalink.h.

#define VI_MAX_V_SPEED   2.

Definition at line 34 of file vi_datalink.h.

#define VI_NAV_STICK_PARSE_DL

(

_dl_buffer

)

Value:

{ \
    vi.last_msg = 0; \
    vi.input.h_mode = GUIDANCE_H_MODE_NAV;  \
    vi.input.v_mode = GUIDANCE_V_MODE_NAV;  \
    vi.input.h_sp.speed.x = DL_BOOZ_NAV_STICK_vx_sp(_dl_buffer); \
    vi.input.h_sp.speed.y = DL_BOOZ_NAV_STICK_vy_sp(_dl_buffer); \
    vi.input.h_sp.speed.z = DL_BOOZ_NAV_STICK_r_sp(_dl_buffer); \
    vi.input.v_sp.climb   = DL_BOOZ_NAV_STICK_vz_sp(_dl_buffer); \
  }

Definition at line 104 of file vi_datalink.h.

#define VI_PARSE_DATALINK

(

_dl_buffer

)

Definition at line 52 of file vi_datalink.h.

Function Documentation

void vi_update_wp

(

uint8_t

wp_id

)

Definition at line 42 of file vi_datalink.c.

References Vi_command::h_sp, VehicleInterface::input, navigation_update_wp_from_speed(), Vi_command::v_sp, VECT3_BOUND_BOX, vi, ViMaxHeadingRate, ViMaxHSpeed, ViMaxVSpeed, Int16Vect3::x, Int16Vect3::y, and Int16Vect3::z.

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