#include "std.h"
#include "paparazzi.h"
#include "state.h"
#include "subsystems/navigation/nav_survey_rectangle.h"
#include "subsystems/navigation/common_flight_plan.h"
#include "subsystems/navigation/common_nav.h"
#include "autopilot.h"

Include dependency graph for nav.h:

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Macros
#define	NAV_GRAVITY 9.806

#define	Square(_x) ((_x)*(_x))

#define	DistanceSquare(p1_x, p1_y, p2_x, p2_y) (Square(p1_x-p2_x)+Square(p1_y-p2_y))

#define	PowerVoltage() (ap_electrical.vsupply)

#define	RcRoll(travel) (imcu_get_radio(RADIO_ROLL) * (float)travel /(float)MAX_PPRZ)

#define	NAV_MODE_ROLL 1

#define	NAV_MODE_COURSE 2

#define	HORIZONTAL_MODE_WAYPOINT 0

#define	HORIZONTAL_MODE_ROUTE 1

#define	HORIZONTAL_MODE_CIRCLE 2

#define	NavGotoWaypoint(_wp)

#define	Eight(a, b, c) nav_eight((a), (b), (c))

#define	Oval(a, b, c) nav_oval((b), (a), (c))

#define	RCLost() bit_is_set(imcu_get_status(), STATUS_RADIO_REALLY_LOST)

#define	NavFollow(_ac_id, _distance, _height) nav_follow(_ac_id, _distance, _height)

#define	NavGlide(_start_wp, _wp) nav_glide(_start_wp, _wp)

#define	NavCircleWaypoint(wp, radius) nav_circle_XY(waypoints[wp].x, waypoints[wp].y, radius)

#define	NormCourse(x)
	Normalize a degree angle between 0 and 359. More...

#define	NavCircleCountNoRewind() (nav_circle_radians_no_rewind / (2*M_PI))

#define	NavCircleCount() (fabs(nav_circle_radians) / (2*M_PI))

#define	NavCircleQdr() ({ float qdr = DegOfRad(M_PI_2 - nav_circle_trigo_qdr); NormCourse(qdr); qdr; })

#define	CloseDegAngles(_c1, _c2) ({ float _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff \|\| _diff < 10; })

#define	NavQdrCloseTo(x) CloseDegAngles(x, NavCircleQdr())
	True if x (in degrees) is close to the current QDR (less than 10 degrees) More...

#define	NavCourseCloseTo(x) CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))

#define	NavSegment(_start, _end) nav_route_xy(waypoints[_start].x, waypoints[_start].y, waypoints[_end].x, waypoints[_end].y)

#define	NavApproaching(wp, time) nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, last_x, last_y, time)

#define	NavApproachingFrom(wp, from, time) nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, waypoints[from].x, waypoints[from].y, time)

#define	NavVerticalAutoThrottleMode(_pitch)
	Set the climb control to auto-throttle with the specified pitch pre-command. More...

#define	NavVerticalAutoPitchMode(_throttle)
	Set the climb control to auto-pitch with the specified throttle pre-command. More...

#define	NavVerticalAltitudeMode(_alt, _pre_climb)
	Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command. More...

#define	NavVerticalClimbMode(_climb)
	Set the vertical mode to climb control with the specified climb setpoint. More...

#define	NavVerticalThrottleMode(_throttle)
	Set the vertical mode to fixed throttle with the specified setpoint. More...

#define	NavHeading(_course)

#define	NavAttitude(_roll)

#define	NavSetManual(_roll, _pitch, _yaw) _Pragma("GCC error \"Manual mode in flight plan for fixedwing is not available\"")

#define	nav_IncreaseShift(x) { if (x==0) nav_shift = 0; else nav_shift += x; }

#define	nav_SetNavRadius(x) { if (x==1) nav_radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav_radius = -DEFAULT_CIRCLE_RADIUS; else nav_radius = x; }

#define	NavKillThrottle() { autopilot_set_kill_throttle(true); }

#define	GetPosX() (stateGetPositionEnu_f()->x)
	Get current x (east) position in local coordinates. More...

#define	GetPosY() (stateGetPositionEnu_f()->y)
	Get current y (north) position in local coordinates. More...

#define	GetPosAlt() (stateGetPositionUtm_f()->alt)
	Get current altitude above MSL. More...

#define	GetAltRef() (ground_alt)
	Get current altitude reference for local coordinates. More...

#define	SEND_NAVIGATION(_trans, _dev)

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

Functions
void	fly_to_xy (float x, float y)
	Computes desired_x, desired_y and desired_course. More...

void	nav_eight_init (void)

void	nav_eight (uint8_t, uint8_t, float)
	Navigation along a figure 8. More...

void	nav_oval_init (void)

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

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

void	nav_home (void)
	Home mode navigation (circle around HOME) More...

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

void	nav_without_gps (void)
	Failsafe navigation without position estimation. More...

void	nav_circle_XY (float x, float y, float radius)
	Angle from center to mobile. More...

void	nav_compute_baseleg (uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius)

void	nav_compute_final_from_glide (uint8_t wp_af, uint8_t wp_td, float glide)

void	nav_follow (uint8_t _ac_id, float _distance, float _height)

void	nav_glide (uint8_t start_wp, uint8_t wp)

void	nav_route_xy (float last_wp_x, float last_wp_y, float wp_x, float wp_y)
	Computes the carrot position along the desired segment. More...

bool	nav_approaching_xy (float x, float y, float from_x, float from_y, float approaching_time)
	Decide if the UAV is approaching the current waypoint. More...

void	DownlinkSendWpNr (uint8_t _wp)

Variables
enum oval_status	oval_status

float	cur_pos_x

float	cur_pos_y

float	last_x

float	last_y

float	desired_x

float	desired_y

float	nav_altitude

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

float	nav_glide_pitch_trim

pprz_t	nav_throttle_setpoint

float	nav_pitch
	with INT32_ANGLE_FRAC More...

float	rc_pitch

float	fp_pitch

float	fp_throttle

float	fp_climb

float	carrot_x

float	carrot_y

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

float	nav_circle_radians_no_rewind

bool	nav_in_circle

bool	nav_in_segment

float	nav_circle_x

float	nav_circle_y

float	nav_circle_radius

float	nav_segment_x_1

float	nav_segment_y_1

float	nav_segment_x_2

float	nav_segment_y_2

uint8_t	last_wp
	Index of last waypoint. More...

int	nav_mode

uint8_t	horizontal_mode

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

float	nav_radius

float	nav_course

float	nav_climb

float	nav_shift

float	nav_ground_speed_pgain

float	nav_ground_speed_setpoint

float	nav_survey_shift

float	nav_survey_west

float	nav_survey_east

float	nav_survey_north

float	nav_survey_south

bool	nav_survey_active

float	nav_circle_trigo_qdr

float	baseleg_out_qdr

Detailed Description

Fixedwing Navigation library.

This collection of macros and functions is used by the C code generated from the XML flight plan.

Definition in file nav.h.

Macro Definition Documentation

◆ CloseDegAngles

#define CloseDegAngles	(	_c1,
		_c2
	)	({ float _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff \|\| _diff < 10; })

Definition at line 152 of file nav.h.

◆ DistanceSquare

#define DistanceSquare	(	p1_x,
		p1_y,
		p2_x,
		p2_y
	)	(Square(p1_x-p2_x)+Square(p1_y-p2_y))

Definition at line 47 of file nav.h.

◆ Eight

#define Eight	(	a,
		b,
		c
	)	nav_eight((a), (b), (c))

Definition at line 99 of file nav.h.

◆ GetAltRef

#define GetAltRef ( ) (ground_alt)

Get current altitude reference for local coordinates.

This is the ground_alt from the flight plan at first, but might be updated later through a call to NavSetGroundReferenceHere() or NavSetAltitudeReferenceHere(), e.g. in the GeoInit flight plan block.

Definition at line 235 of file nav.h.

◆ GetPosAlt

#define GetPosAlt ( ) (stateGetPositionUtm_f()->alt)

Get current altitude above MSL.

Definition at line 228 of file nav.h.

◆ GetPosX

#define GetPosX ( ) (stateGetPositionEnu_f()->x)

Get current x (east) position in local coordinates.

Definition at line 224 of file nav.h.

◆ GetPosY

#define GetPosY ( ) (stateGetPositionEnu_f()->y)

Get current y (north) position in local coordinates.

Definition at line 226 of file nav.h.

◆ HORIZONTAL_MODE_CIRCLE

#define HORIZONTAL_MODE_CIRCLE 2

Definition at line 87 of file nav.h.

◆ HORIZONTAL_MODE_ROUTE

#define HORIZONTAL_MODE_ROUTE 1

Definition at line 86 of file nav.h.

◆ HORIZONTAL_MODE_WAYPOINT

#define HORIZONTAL_MODE_WAYPOINT 0

Definition at line 85 of file nav.h.

◆ NAV_GRAVITY

#define NAV_GRAVITY 9.806

Definition at line 45 of file nav.h.

◆ nav_IncreaseShift

#define nav_IncreaseShift ( x ) { if (x==0) nav_shift = 0; else nav_shift += x; }

Definition at line 217 of file nav.h.

◆ NAV_MODE_COURSE

#define NAV_MODE_COURSE 2

Definition at line 81 of file nav.h.

◆ NAV_MODE_ROLL

#define NAV_MODE_ROLL 1

Definition at line 80 of file nav.h.

◆ nav_SetNavRadius

#define nav_SetNavRadius ( x ) { if (x==1) nav_radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav_radius = -DEFAULT_CIRCLE_RADIUS; else nav_radius = x; }

Definition at line 219 of file nav.h.

◆ NavApproaching

#define NavApproaching	(	wp,
		time
	)	nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, last_x, last_y, time)

Definition at line 165 of file nav.h.

◆ NavApproachingFrom

#define NavApproachingFrom	(	wp,
		from,
		time
	)	nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, waypoints[from].x, waypoints[from].y, time)

Definition at line 166 of file nav.h.

◆ NavAttitude

#define NavAttitude ( _roll )

Value:

    { \
    lateral_mode = LATERAL_MODE_ROLL; \
    if(autopilot_get_mode() != AP_MODE_AUTO1)  \
    {h_ctl_roll_setpoint = _roll;} \
  }

Definition at line 208 of file nav.h.

◆ NavCircleCount

#define NavCircleCount ( ) (fabs(nav_circle_radians) / (2*M_PI))

Definition at line 149 of file nav.h.

◆ NavCircleCountNoRewind

#define NavCircleCountNoRewind ( ) (nav_circle_radians_no_rewind / (2*M_PI))

Definition at line 148 of file nav.h.

◆ NavCircleQdr

#define NavCircleQdr ( ) ({ float qdr = DegOfRad(M_PI_2 - nav_circle_trigo_qdr); NormCourse(qdr); qdr; })

Definition at line 150 of file nav.h.

◆ NavCircleWaypoint

#define NavCircleWaypoint	(	wp,
		radius
	)	nav_circle_XY(waypoints[wp].x, waypoints[wp].y, radius)

Definition at line 138 of file nav.h.

◆ NavCourseCloseTo

#define NavCourseCloseTo ( x ) CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))

Definition at line 157 of file nav.h.

◆ NavFollow

#define NavFollow	(	_ac_id,
		_distance,
		_height
	)	nav_follow(_ac_id, _distance, _height)

Definition at line 133 of file nav.h.

◆ NavGlide

#define NavGlide	(	_start_wp,
		_wp
	)	nav_glide(_start_wp, _wp)

Definition at line 136 of file nav.h.

◆ NavGotoWaypoint

#define NavGotoWaypoint ( _wp )

Value:

    { \
    horizontal_mode = HORIZONTAL_MODE_WAYPOINT; \
    fly_to_xy(waypoints[_wp].x, waypoints[_wp].y); \
  }

Definition at line 91 of file nav.h.

◆ NavHeading

#define NavHeading ( _course )

Value:

    { \
    lateral_mode = LATERAL_MODE_COURSE; \
    h_ctl_course_setpoint = _course; \
  }

Definition at line 203 of file nav.h.

◆ NavKillThrottle

#define NavKillThrottle ( ) { autopilot_set_kill_throttle(true); }

Definition at line 221 of file nav.h.

◆ NavQdrCloseTo

#define NavQdrCloseTo ( x ) CloseDegAngles(x, NavCircleQdr())

True if x (in degrees) is close to the current QDR (less than 10 degrees)

Definition at line 155 of file nav.h.

◆ NavSegment

#define NavSegment	(	_start,
		_end
	)	nav_route_xy(waypoints[_start].x, waypoints[_start].y, waypoints[_end].x, waypoints[_end].y)

Definition at line 161 of file nav.h.

◆ NavSetManual

#define NavSetManual	(	_roll,
		_pitch,
		_yaw
	)	_Pragma("GCC error \"Manual mode in flight plan for fixedwing is not available\"")

Definition at line 214 of file nav.h.

◆ NavVerticalAltitudeMode

#define NavVerticalAltitudeMode	(	_alt,
		_pre_climb
	)

Value:

    { \
    v_ctl_mode = V_CTL_MODE_AUTO_ALT; \
    nav_altitude = _alt; \
    v_ctl_altitude_pre_climb = _pre_climb; \
  }

Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command.

Definition at line 185 of file nav.h.

◆ NavVerticalAutoPitchMode

#define NavVerticalAutoPitchMode ( _throttle )

Value:

    { \
    v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_PITCH; \
    nav_throttle_setpoint = _throttle; \
  }

Set the climb control to auto-pitch with the specified throttle pre-command.

Definition at line 178 of file nav.h.

◆ NavVerticalAutoThrottleMode

#define NavVerticalAutoThrottleMode ( _pitch )

Value:

    { \
    v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE; \
    nav_pitch = _pitch; \
  }

Set the climb control to auto-throttle with the specified pitch pre-command.

Definition at line 171 of file nav.h.

◆ NavVerticalClimbMode

#define NavVerticalClimbMode ( _climb )

Value:

    { \
    v_ctl_mode = V_CTL_MODE_AUTO_CLIMB; \
    v_ctl_climb_setpoint = _climb; \
  }

Set the vertical mode to climb control with the specified climb setpoint.

Definition at line 192 of file nav.h.

◆ NavVerticalThrottleMode

#define NavVerticalThrottleMode ( _throttle )

Value:

    { \
    v_ctl_mode = V_CTL_MODE_AUTO_THROTTLE; \
    nav_throttle_setpoint = _throttle; \
  }

Set the vertical mode to fixed throttle with the specified setpoint.

Definition at line 198 of file nav.h.

◆ NormCourse

#define NormCourse ( x )

Value:

    { \
    uint8_t dont_loop_forever = 0;  \
    while (x < 0 && ++dont_loop_forever) x += 360; \
    while (x >= 360 && ++dont_loop_forever) x -= 360; \
  }

Normalize a degree angle between 0 and 359.

Definition at line 142 of file nav.h.

◆ Oval

#define Oval	(	a,
		b,
		c
	)	nav_oval((b), (a), (c))

Definition at line 104 of file nav.h.

◆ PowerVoltage

#define PowerVoltage ( ) (ap_electrical.vsupply)

Definition at line 49 of file nav.h.

◆ RCLost

#define RCLost ( ) bit_is_set(imcu_get_status(), STATUS_RADIO_REALLY_LOST)

Definition at line 130 of file nav.h.

◆ RcRoll

#define RcRoll ( travel ) (imcu_get_radio(RADIO_ROLL) * (float)travel /(float)MAX_PPRZ)

Definition at line 50 of file nav.h.

◆ SEND_NAVIGATION

#define SEND_NAVIGATION	(	_trans,
		_dev
	)

Value:

    { \
    uint8_t _circle_count = NavCircleCount(); \
    struct EnuCoor_f* pos = stateGetPositionEnu_f(); \
    float dist_wp = sqrtf(dist2_to_wp); \
    float dist_home = sqrtf(dist2_to_home); \
    uint8_t kill = (uint8_t)autopilot.kill_throttle; \
    pprz_msg_send_NAVIGATION(_trans, _dev, AC_ID, &nav_block, &nav_stage, &(pos->x), &(pos->y), &dist_wp, &dist_home, &autopilot.flight_time, &block_time, &stage_time, &kill, &_circle_count, &nav_oval_count); \
  }

Definition at line 238 of file nav.h.

◆ Square

#define Square ( _x ) ((_x)*(_x))

Definition at line 46 of file nav.h.

Enumeration Type Documentation

◆ oval_status

enum oval_status

Enumerator
OR12
OC2
OR21
OC1
OR12
OC2
OR21
OC1
OR12
OC2
OR21
OC1

Definition at line 53 of file nav.h.

Function Documentation

◆ DownlinkSendWpNr()

void DownlinkSendWpNr ( uint8_t _wp )

Definition at line 495 of file nav.c.

References DefaultChannel, DefaultDevice, DownlinkSendWp(), and nb_waypoint.

Referenced by nav_catapult_run().

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◆ fly_to_xy()

void fly_to_xy	(	float	x,
		float	y
	)

Computes desired_x, desired_y and desired_course.

Definition at line 355 of file nav.c.

References CARROT, desired_x, desired_y, h_ctl_course_pgain, h_ctl_course_setpoint, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_COURSE, LATERAL_MODE_ROLL, nav_mode, NAV_MODE_COURSE, s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by formation_flight(), mission_nav_wp(), nav_circle_XY(), nav_route_xy(), and potential_task().

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◆ nav_approaching_xy()

bool nav_approaching_xy	(	float	x,
		float	y,
		float	from_x,
		float	from_y,
		float	approaching_time
	)

Decide if the UAV is approaching the current waypoint.

Computes dist2_to_wp and compare it to square carrot. Return true if it is smaller. Else computes by scalar products if uav has not gone past waypoint. approaching_time can be negative and in this case, the UAV will fly after the waypoint for the given number of seconds.

Returns: true if the position (x, y) is reached

distance to waypoint in x

distance to waypoint in y

Definition at line 323 of file nav.c.

References dist2_to_wp, Max, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_nav_survey_polygon_run(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_catapult_run(), nav_eight(), nav_line_osam_run(), nav_oval(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), and snav_route().

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◆ nav_circle_XY()

void nav_circle_XY	(	float	x,
		float	y,
		float	radius
	)

Angle from center to mobile.

Clockwise iff radius > 0

Computes a prebank. Go straight if inside or outside the circle

Definition at line 109 of file nav.c.

References CARROT, circle_bank, DistanceSquare, fly_to_xy(), horizontal_mode, HORIZONTAL_MODE_CIRCLE, Max, Min, nav_circle_radians, nav_circle_radians_no_rewind, nav_circle_radius, nav_circle_trigo_qdr, nav_circle_x, nav_circle_y, NAV_GRAVITY, nav_in_circle, nav_mode, NAV_MODE_COURSE, nav_shift, Square, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_circle(), nav_eight(), nav_flower_run(), nav_launcher_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_oval(), nav_skid_landing_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), nav_vertical_raster_run(), snav_circle1(), snav_circle2(), and snav_on_time().

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◆ nav_compute_baseleg()

void nav_compute_baseleg	(	uint8_t	wp_af,
		uint8_t	wp_td,
		uint8_t	wp_baseleg,
		float	radius
	)

Definition at line 218 of file nav.c.

References point::a, baseleg_out_qdr, nav_radius, waypoints, point::x, and point::y.

◆ nav_compute_final_from_glide()

void nav_compute_final_from_glide	(	uint8_t	wp_af,
		uint8_t	wp_td,
		float	glide
	)

Definition at line 239 of file nav.c.

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

◆ nav_eight()

void nav_eight	(	uint8_t	target,
		uint8_t	c1,
		float	radius
	)

Navigation along a figure 8.

The cross center is defined by the waypoint [target], the center of one of the circles is defined by [c1]. Altitude is given by [target]. The navigation goes through 6 states: C1 (circle around [c1]), R1T, RT2 (route from circle 1 to circle 2 over [target]), C2 and R2T, RT1. If necessary, the [c1] waypoint is moved in the direction of [target] to be not far than [2*radius].

Definition at line 604 of file nav.c.

References point::a, c1, C1, c2, C2, CARROT, InitStage, Max, nav_approaching_xy(), nav_circle_XY(), nav_route_xy(), NavCircleWaypoint, NavQdrCloseTo, R1T, R2T, RT1, RT2, target, waypoints, point::x, and point::y.

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◆ nav_eight_init()

void nav_eight_init ( void )

Definition at line 591 of file nav.c.

References C1.

◆ nav_follow()

void nav_follow	(	uint8_t	_ac_id,
		float	_distance,
		float	_height
	)

Definition at line 300 of file nav.c.

◆ nav_glide()

void nav_glide	(	uint8_t	start_wp,
		uint8_t	wp
	)

Definition at line 158 of file nav.c.

References point::a, nav_leg_length, nav_leg_progress, NavVerticalAltitudeMode, stateGetHorizontalSpeedNorm_f(), and waypoints.

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◆ nav_home()

void nav_home ( void )

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 422 of file nav.c.

◆ nav_init()

void nav_init ( void )

Navigation Initialisation.

Definition at line 530 of file nav.c.

◆ nav_oval()

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 733 of file nav.c.

◆ nav_oval_init()

void nav_oval_init ( void )

Definition at line 727 of file nav.c.

◆ nav_periodic_task()

void nav_periodic_task ( void )

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

Definition at line 443 of file nav.c.

◆ nav_route_xy()

void nav_route_xy	(	float	last_wp_x,
		float	last_wp_y,
		float	wp_x,
		float	wp_y
	)

Computes the carrot position along the desired segment.

distance of carrot (in meter)

Definition at line 381 of file nav.c.

References CARROT, fly_to_xy(), horizontal_mode, HORIZONTAL_MODE_ROUTE, Max, nav_carrot_leg_progress, nav_in_segment, nav_leg_length, nav_leg_progress, nav_segment_x_1, nav_segment_x_2, nav_segment_y_1, nav_segment_y_2, nav_shift, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_path(), mission_nav_segment(), nav_bungee_takeoff_run(), nav_eight(), nav_flower_run(), nav_launcher_run(), nav_line_osam_run(), nav_oval(), nav_points(), nav_skid_landing_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_losange_carto(), nav_survey_poly_osam_run(), nav_survey_rectangle(), nav_survey_zamboni_run(), and snav_route().

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◆ nav_without_gps()

void nav_without_gps ( void )

Failsafe navigation without position estimation.

Just set attitude and throttle to FAILSAFE values to prevent the plane from crashing.

Definition at line 568 of file nav.c.

References h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_ROLL, MAX_PPRZ, nav_pitch, nav_throttle_setpoint, TRIM_UPPRZ, v_ctl_mode, and V_CTL_MODE_AUTO_THROTTLE.

Referenced by navigation_task().

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Variable Documentation

◆ baseleg_out_qdr

float baseleg_out_qdr

Definition at line 217 of file nav.c.

Referenced by nav_compute_baseleg().

◆ carrot_x

float carrot_x

Definition at line 51 of file nav.c.

◆ carrot_y

float carrot_y

Definition at line 68 of file nav.h.

◆ cur_pos_x

float cur_pos_x

◆ cur_pos_y

float cur_pos_y

◆ desired_x

float desired_x

Definition at line 306 of file nav.c.

Referenced by cam_segment_periodic(), fly_to_xy(), formation_flight(), potential_task(), and send_desired().

◆ desired_y

float desired_y

Definition at line 59 of file nav.h.

◆ flight_altitude

float flight_altitude

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 59 of file nav.h.

◆ fp_climb

float fp_climb

Definition at line 311 of file nav.c.

Referenced by nav_init().

◆ fp_pitch

float fp_pitch

Definition at line 309 of file nav.c.

Referenced by nav_init().

◆ fp_throttle

float fp_throttle

Definition at line 310 of file nav.c.

Referenced by nav_init().

◆ horizontal_mode

uint8_t horizontal_mode

Definition at line 71 of file nav.c.

◆ last_wp

uint8_t last_wp

Index of last waypoint.

Used only in "go" stage in "route" horiz mode

Definition at line 48 of file nav.c.

◆ last_x

float last_x

Definition at line 45 of file nav.c.

Referenced by gvf_nav_survey_polygon_run(), nav_init_stage(), and nav_survey_polygon_run().

◆ last_y

float last_y

Definition at line 57 of file nav.h.

◆ nav_altitude

float nav_altitude

Definition at line 59 of file nav.h.

◆ nav_circle_radians

float nav_circle_radians

Status on the current circle.

Definition at line 54 of file nav.c.

Referenced by nav_circle(), nav_circle_XY(), and nav_init_stage().

◆ nav_circle_radians_no_rewind

float nav_circle_radians_no_rewind

Definition at line 55 of file nav.c.

Referenced by nav_circle_XY(), and nav_init_stage().

◆ nav_circle_radius

float nav_circle_radius

Definition at line 74 of file nav.h.

◆ nav_circle_trigo_qdr

float nav_circle_trigo_qdr

Definition at line 56 of file nav.c.

Referenced by nav_circle_XY().

◆ nav_circle_x

float nav_circle_x

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_circle_XY(), and send_circle().

◆ nav_circle_y

float nav_circle_y

Definition at line 74 of file nav.h.

◆ nav_climb

float nav_climb

Definition at line 57 of file nav.c.

◆ nav_course

float nav_course

Definition at line 57 of file nav.c.

◆ nav_glide_pitch_trim

float nav_glide_pitch_trim

Definition at line 59 of file nav.h.

◆ nav_ground_speed_pgain

float nav_ground_speed_pgain

Definition at line 84 of file nav.c.

Referenced by nav_init().

◆ nav_ground_speed_setpoint

float nav_ground_speed_setpoint

Definition at line 111 of file nav.h.

◆ nav_in_circle

bool nav_in_circle

Definition at line 67 of file nav.c.

Referenced by calculate_wind_no_airspeed(), nav_circle_XY(), nav_init_stage(), nav_periodic_task(), nav_survey_rectangle(), nav_survey_rectangle_rotorcraft_run(), and send_circle().

◆ nav_in_segment

bool nav_in_segment

Definition at line 68 of file nav.c.

Referenced by nav_init_stage(), nav_route_xy(), nav_survey_rectangle(), nav_survey_rectangle_rotorcraft_run(), and send_segment().

◆ nav_mode

int nav_mode

Definition at line 91 of file nav.c.

Referenced by fly_to_xy(), nav_circle_XY(), and nav_init().

◆ nav_oval_count

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 725 of file nav.c.

◆ nav_pitch

float nav_pitch

with INT32_ANGLE_FRAC

Definition at line 308 of file nav.c.

Referenced by attitude_loop(), guidance_h_from_nav(), nav_home(), nav_init(), nav_without_gps(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_landing_loop(), and v_ctl_set_pitch().

◆ nav_radius

float nav_radius

Definition at line 57 of file nav.c.

◆ nav_segment_x_1

float nav_segment_x_1

Definition at line 70 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_route_xy(), and send_segment().

◆ nav_segment_x_2

float nav_segment_x_2

Definition at line 75 of file nav.h.

◆ nav_segment_y_1

float nav_segment_y_1

Definition at line 75 of file nav.h.

◆ nav_segment_y_2

float nav_segment_y_2

Definition at line 75 of file nav.h.

◆ nav_shift

float nav_shift

Definition at line 57 of file nav.c.

Referenced by nav_circle_XY(), nav_init_stage(), and nav_route_xy().

◆ nav_survey_active

bool nav_survey_active

Definition at line 89 of file nav.c.

◆ nav_survey_east

float nav_survey_east

Definition at line 115 of file nav.h.

◆ nav_survey_north

float nav_survey_north

Definition at line 115 of file nav.h.

◆ nav_survey_shift

float nav_survey_shift

Definition at line 87 of file nav.c.

Referenced by nav_init(), nav_survey_disc_run(), nav_survey_disc_setup(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

◆ nav_survey_south

float nav_survey_south

Definition at line 115 of file nav.h.

◆ nav_survey_west

float nav_survey_west

Definition at line 88 of file nav.c.

Referenced by nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), and send_survey().

◆ nav_throttle_setpoint

pprz_t nav_throttle_setpoint

Definition at line 307 of file nav.c.

Referenced by attitude_loop(), nav_without_gps(), and v_ctl_guidance_loop().

◆ oval_status

enum oval_status oval_status

Definition at line 43 of file nav.c.

◆ rc_pitch

float rc_pitch

Definition at line 50 of file nav.c.

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ CloseDegAngles

◆ DistanceSquare

◆ Eight

◆ GetAltRef

◆ GetPosAlt

◆ GetPosX

◆ GetPosY

◆ HORIZONTAL_MODE_CIRCLE

◆ HORIZONTAL_MODE_ROUTE

◆ HORIZONTAL_MODE_WAYPOINT

◆ NAV_GRAVITY

◆ nav_IncreaseShift

◆ NAV_MODE_COURSE

◆ NAV_MODE_ROLL

◆ nav_SetNavRadius

◆ NavApproaching

◆ NavApproachingFrom

◆ NavAttitude

◆ NavCircleCount

◆ NavCircleCountNoRewind

◆ NavCircleQdr

◆ NavCircleWaypoint

◆ NavCourseCloseTo

◆ NavFollow

◆ NavGlide

◆ NavGotoWaypoint

◆ NavHeading

◆ NavKillThrottle

◆ NavQdrCloseTo

◆ NavSegment

◆ NavSetManual

◆ NavVerticalAltitudeMode

◆ NavVerticalAutoPitchMode

◆ NavVerticalAutoThrottleMode

◆ NavVerticalClimbMode

◆ NavVerticalThrottleMode

◆ NormCourse

◆ Oval

◆ PowerVoltage

◆ RCLost

◆ RcRoll

◆ SEND_NAVIGATION

◆ Square

Enumeration Type Documentation

◆ oval_status

Function Documentation

◆ DownlinkSendWpNr()

◆ fly_to_xy()

◆ nav_approaching_xy()

◆ nav_circle_XY()

◆ nav_compute_baseleg()

◆ nav_compute_final_from_glide()

◆ nav_eight()

◆ nav_eight_init()

◆ nav_follow()

◆ nav_glide()

◆ nav_home()

◆ nav_init()

◆ nav_oval()

◆ nav_oval_init()

◆ nav_periodic_task()

◆ nav_route_xy()

◆ nav_without_gps()

Variable Documentation

◆ baseleg_out_qdr

◆ carrot_x

◆ carrot_y

◆ cur_pos_x

◆ cur_pos_y

◆ desired_x

◆ desired_y

◆ flight_altitude

◆ fp_climb

◆ fp_pitch