Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
nav_spiral.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2011-2013 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
29 #ifndef NAV_SPIRAL_H
30 #define NAV_SPIRAL_H
31 
32 #include "std.h"
34 
36 
37 struct NavSpiral {
43  float alpha_limit;
44  float segments;
45  float radius;
46  float radius_min;
47  float radius_start;
50 };
51 
52 extern struct NavSpiral nav_spiral;
53 
54 extern bool_t nav_spiral_run(void);
55 extern bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start,
56  float radius_inc, float segments);
57 
58 #endif // NAV_SPIRAL_H
float radius_increment
Definition: nav_spiral.h:48
struct FloatVect3 trans_current
Definition: nav_spiral.h:38
struct FloatVect2 fly_from
Definition: nav_spiral.h:39
float alpha_limit
Definition: nav_spiral.h:43
float segments
Definition: nav_spiral.h:44
struct FloatVect2 last_circle
Definition: nav_spiral.h:40
float radius_start
Definition: nav_spiral.h:47
struct FloatVect3 center
Definition: nav_spiral.h:41
Paparazzi floating point algebra.
enum SpiralStatus status
Definition: nav_spiral.h:49
float dist_from_center
Definition: nav_spiral.h:42
float radius
Definition: nav_spiral.h:45
unsigned char uint8_t
Definition: types.h:14
float radius_min
Definition: nav_spiral.h:46