Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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common_nav.h File Reference
#include "std.h"
#include "state.h"
#include "subsystems/navigation/common_flight_plan.h"
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Data Structures

struct  point
 

Macros

#define WaypointX(_wp)   (waypoints[_wp].x)
 
#define WaypointY(_wp)   (waypoints[_wp].y)
 
#define WaypointAlt(_wp)   (waypoints[_wp].a)
 
#define Height(_h)   (_h + ground_alt)
 
#define NavSetGroundReferenceHere()   ({ nav_reset_reference(); nav_update_waypoints_alt(); FALSE; })
 
#define NavSetAltitudeReferenceHere()   ({ nav_reset_alt(); nav_update_waypoints_alt(); FALSE; })
 
#define NavSetWaypointHere(_wp)
 

Functions

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

Variables

float max_dist_from_home
 
float dist2_to_home
 squared distance to home waypoint More...
 
float dist2_to_wp
 squared distance to next waypoint More...
 
bool_t too_far_from_home
 
const uint8_t nb_waypoint
 
struct point waypoints []
 
float ground_alt
 size == nb_waypoint, waypoint 0 is a dummy waypoint More...
 
int32_t nav_utm_east0
 
int32_t nav_utm_north0
 
uint8_t nav_utm_zone0
 

Macro Definition Documentation

#define Height (   _h)    (_h + ground_alt)

Definition at line 48 of file common_nav.h.

#define NavSetAltitudeReferenceHere ( )    ({ nav_reset_alt(); nav_update_waypoints_alt(); FALSE; })

Definition at line 73 of file common_nav.h.

#define NavSetGroundReferenceHere ( )    ({ nav_reset_reference(); nav_update_waypoints_alt(); FALSE; })

Definition at line 71 of file common_nav.h.

#define NavSetWaypointHere (   _wp)
Value:
({ \
})
static struct EnuCoor_f * stateGetPositionEnu_f(void)
Get position in local ENU coordinates (float).
Definition: state.h:672
float y
in meters
#define FALSE
Definition: imu_chimu.h:141
float x
in meters
struct point waypoints[]
Definition: navigation.c:52
float y
Definition: common_nav.h:41
float x
Definition: common_nav.h:40

Definition at line 75 of file common_nav.h.

#define WaypointAlt (   _wp)    (waypoints[_wp].a)

Definition at line 47 of file common_nav.h.

#define WaypointX (   _wp)    (waypoints[_wp].x)

Definition at line 45 of file common_nav.h.

#define WaypointY (   _wp)    (waypoints[_wp].y)

Definition at line 46 of file common_nav.h.

Function Documentation

void common_nav_periodic_task_4Hz ( void  )

Definition at line 119 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 potentially sets too_far_from_home.

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 490 of file navigation.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.

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

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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_idWaypoint ID
[in]uxUTM x (east) coordinate
[in]uyUTM y (north) coordinate
[in]altAltitude above MSL.

Definition at line 129 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.

unit_t nav_reset_alt ( void  )

Reset the altitude reference to the current GPS alt.

Definition at line 383 of file navigation.c.

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

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unit_t nav_reset_reference ( void  )

Reset the geographic reference to the current GPS fix.

Definition at line 378 of file navigation.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, and UtmCoor_f::zone.

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unit_t nav_reset_utm_zone ( void  )

Reset the UTM zone to current GPS fix.

Definition at line 65 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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unit_t nav_update_waypoints_alt ( void  )

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

Definition at line 111 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 69 of file navigation.c.

Referenced by autopilot_periodic(), compute_dist2_to_home(), monitor_task(), nav_home(), and nav_init().

float dist2_to_wp

squared distance to next waypoint

Definition at line 72 of file navigation.c.

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

float max_dist_from_home

Definition at line 66 of file navigation.c.

Referenced by mission_point_of_lla(), and nav_move_waypoint().

const uint8_t nb_waypoint

Definition at line 51 of file navigation.c.

Referenced by cam_waypoint_target(), nav_init(), and nav_move_waypoint().

bool_t too_far_from_home