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navigation.h File Reference

Rotorcraft navigation functions. More...

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Macros

#define NAV_FREQ   16
 
#define HORIZONTAL_MODE_WAYPOINT   0
 
#define HORIZONTAL_MODE_ROUTE   1
 
#define HORIZONTAL_MODE_CIRCLE   2
 
#define HORIZONTAL_MODE_ATTITUDE   3
 
#define VERTICAL_MODE_MANUAL   0
 
#define VERTICAL_MODE_CLIMB   1
 
#define VERTICAL_MODE_ALT   2
 
#define CARROT   0
 default approaching_time for a wp More...
 
#define NavKillThrottle()   ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(FALSE); } FALSE; })
 
#define NavResurrect()   ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(TRUE); } FALSE; })
 
#define NavSetGroundReferenceHere()   ({ nav_reset_reference(); FALSE; })
 
#define NavSetAltitudeReferenceHere()   ({ nav_reset_alt(); FALSE; })
 
#define NavSetWaypointHere(_wp)   ({ VECT2_COPY(waypoints[_wp], *stateGetPositionEnu_i()); FALSE; })
 
#define NavCopyWaypoint(_wp1, _wp2)   ({ VECT2_COPY(waypoints[_wp1], waypoints[_wp2]); FALSE; })
 
#define WaypointX(_wp)   POS_FLOAT_OF_BFP(waypoints[_wp].x)
 
#define WaypointY(_wp)   POS_FLOAT_OF_BFP(waypoints[_wp].y)
 
#define WaypointAlt(_wp)   POS_FLOAT_OF_BFP(waypoints[_wp].z)
 
#define Height(_h)   (_h)
 
#define NormCourse(x)
 Normalize a degree angle between 0 and 359. More...
 
#define NavGotoWaypoint(_wp)
 
#define NavCircleWaypoint(_center, _radius)
 
#define NavCircleCount()   (abs(nav_circle_radians) / INT32_ANGLE_2_PI)
 
#define NavCircleQdr()   ({ int32_t qdr = INT32_DEG_OF_RAD(INT32_ANGLE_2_PI_2 - nav_circle_qdr) >> INT32_ANGLE_FRAC; NormCourse(qdr); qdr; })
 
#define NavQdrCloseTo(x)   {}
 True if x (in degrees) is close to the current QDR (less than 10 degrees) More...
 
#define NavCourseCloseTo(x)   {}
 
#define NavSegment(_start, _end)
 
#define NavGlide(_last_wp, _wp)
 Nav glide routine. More...
 
#define NavApproaching(wp, time)   nav_approaching_from(&waypoints[wp], NULL, time)
 
#define NavApproachingFrom(wp, from, time)   nav_approaching_from(&waypoints[wp], &waypoints[from], time)
 
#define NavCheckWaypointTime(wp, time)   nav_check_wp_time(&waypoints[wp], 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 NavStartDetectGround()   ({ autopilot_detect_ground_once = TRUE; FALSE; })
 
#define NavDetectGround()   nav_detect_ground()
 
#define nav_IncreaseShift(x)   {}
 
#define nav_SetNavRadius(x)   {}
 
#define navigation_SetFlightAltitude(x)
 
#define GetPosX()   (stateGetPositionEnu_f()->x)
 
#define GetPosY()   (stateGetPositionEnu_f()->y)
 
#define GetPosAlt()   (stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)
 
#define GetAltRef()   (state.ned_origin_f.hmsl)
 

Functions

void nav_init (void)
 Periodic telemetry. More...
 
void nav_run (void)
 
float get_dist2_to_waypoint (uint8_t wp_id)
 Returns squared horizontal distance to given waypoint. More...
 
float get_dist2_to_point (struct EnuCoor_i *p)
 Returns squared horizontal distance to given point. More...
 
void compute_dist2_to_home (void)
 Computes squared distance to the HOME waypoint potentially sets too_far_from_home. More...
 
void nav_home (void)
 Home mode navigation (circle around HOME) 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...
 
void nav_periodic_task (void)
 Navigation main: call to the code generated from the XML flight plan. More...
 
void nav_move_waypoint_lla (uint8_t wp_id, struct LlaCoor_i *new_lla_pos)
 
void nav_move_waypoint (uint8_t wp_id, struct EnuCoor_i *new_pos)
 
bool_t nav_detect_ground (void)
 
bool_t nav_is_in_flight (void)
 
bool_t nav_set_heading_rad (float rad)
 Set nav_heading in degrees. More...
 
bool_t nav_set_heading_deg (float deg)
 Set nav_heading in degrees. More...
 
bool_t nav_set_heading_towards (float x, float y)
 Set heading to point towards x,y position in local coordinates. More...
 
bool_t nav_set_heading_towards_waypoint (uint8_t wp)
 Set heading in the direction of a waypoint. More...
 
bool_t nav_set_heading_current (void)
 Set heading to the current yaw angle. More...
 
void nav_circle (struct EnuCoor_i *wp_center, int32_t radius)
 
void nav_route (struct EnuCoor_i *wp_start, struct EnuCoor_i *wp_end)
 
bool_t nav_approaching_from (struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_t approaching_time)
 Proximity tests on approaching a wp. More...
 
bool_t 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 navigation_update_wp_from_speed (uint8_t wp, struct Int16Vect3 speed_sp, int16_t heading_rate_sp)
 

Variables

struct EnuCoor_i navigation_target
 
struct EnuCoor_i navigation_carrot
 
struct EnuCoor_i waypoints []
 
const uint8_t nb_waypoint
 
uint8_t last_wp
 
uint8_t horizontal_mode
 
struct EnuCoor_i nav_segment_start nav_segment_end
 
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...
 
int32_t nav_roll
 
int32_t nav_pitch
 with INT32_ANGLE_FRAC More...
 
int32_t nav_heading
 with INT32_ANGLE_FRAC More...
 
float nav_radius
 
int32_t nav_leg_progress
 
int32_t nav_leg_length
 
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...
 
float dist2_to_home
 squared distance to home waypoint More...
 
bool_t too_far_from_home
 
float failsafe_mode_dist2
 maximum squared distance to home wp before going to failsafe mode More...
 
float dist2_to_wp
 squared distance to next waypoint More...
 

Detailed Description

Rotorcraft navigation functions.

Definition in file navigation.h.

Macro Definition Documentation

#define GetAltRef ( )    (state.ned_origin_f.hmsl)

Definition at line 222 of file navigation.h.

#define GetPosAlt ( )    (stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)

Definition at line 221 of file navigation.h.

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

Definition at line 219 of file navigation.h.

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

Definition at line 220 of file navigation.h.

#define Height (   _h)    (_h)

Definition at line 116 of file navigation.h.

#define HORIZONTAL_MODE_ATTITUDE   3

Definition at line 57 of file navigation.h.

Referenced by guidance_h_run().

#define HORIZONTAL_MODE_CIRCLE   2

Definition at line 56 of file navigation.h.

#define HORIZONTAL_MODE_ROUTE   1

Definition at line 55 of file navigation.h.

#define HORIZONTAL_MODE_WAYPOINT   0

Definition at line 54 of file navigation.h.

#define NAV_FREQ   16

Definition at line 37 of file navigation.h.

Referenced by navigation_update_wp_from_speed().

#define nav_IncreaseShift (   x)    {}

Definition at line 208 of file navigation.h.

#define nav_SetNavRadius (   x)    {}

Definition at line 210 of file navigation.h.

#define NavApproaching (   wp,
  time 
)    nav_approaching_from(&waypoints[wp], NULL, time)

Definition at line 162 of file navigation.h.

#define NavApproachingFrom (   wp,
  from,
  time 
)    nav_approaching_from(&waypoints[wp], &waypoints[from], time)

Definition at line 163 of file navigation.h.

#define NavAttitude (   _roll)
Value:
{ \
}
#define ANGLE_BFP_OF_REAL(_af)

Definition at line 200 of file navigation.h.

#define NavCheckWaypointTime (   wp,
  time 
)    nav_check_wp_time(&waypoints[wp], time)

Definition at line 167 of file navigation.h.

#define NavCircleCount ( )    (abs(nav_circle_radians) / INT32_ANGLE_2_PI)

Definition at line 138 of file navigation.h.

#define NavCircleQdr ( )    ({ int32_t qdr = INT32_DEG_OF_RAD(INT32_ANGLE_2_PI_2 - nav_circle_qdr) >> INT32_ANGLE_FRAC; NormCourse(qdr); qdr; })

Definition at line 139 of file navigation.h.

#define NavCircleWaypoint (   _center,
  _radius 
)
Value:
{ \
nav_circle(&waypoints[_center], POS_BFP_OF_REAL(_radius)); \
}
#define POS_BFP_OF_REAL(_af)

Definition at line 133 of file navigation.h.

#define NavCopyWaypoint (   _wp1,
  _wp2 
)    ({ VECT2_COPY(waypoints[_wp1], waypoints[_wp2]); FALSE; })

Definition at line 111 of file navigation.h.

#define NavCourseCloseTo (   x)    {}

Definition at line 143 of file navigation.h.

#define NavDetectGround ( )    nav_detect_ground()

Definition at line 206 of file navigation.h.

#define NavGlide (   _last_wp,
  _wp 
)
Value:
{ \
int32_t start_alt = waypoints[_last_wp].z; \
int32_t diff_alt = waypoints[_wp].z - start_alt; \
int32_t alt = start_alt + ((diff_alt * nav_leg_progress) / nav_leg_length); \
}
int32_t z
Up.
#define POS_FLOAT_OF_BFP(_ai)
signed long int32_t
Definition: types.h:19

Nav glide routine.

Definition at line 153 of file navigation.h.

#define NavGotoWaypoint (   _wp)
Value:
{ \
}
#define INT32_VECT3_COPY(_o, _i)

Definition at line 125 of file navigation.h.

#define NavHeading (   _course)    {}

Definition at line 198 of file navigation.h.

#define navigation_SetFlightAltitude (   x)
Value:
{ \
}
struct LtpDef_f ned_origin_f
Definition of the local (flat earth) coordinate system.
Definition: state.h:216
float hmsl
Height above mean sea level in meters.
struct State state
Definition: state.c:36
#define POS_BFP_OF_REAL(_af)

Definition at line 213 of file navigation.h.

#define NavKillThrottle ( )    ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(FALSE); } FALSE; })

Definition at line 103 of file navigation.h.

#define NavQdrCloseTo (   x)    {}

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

Definition at line 142 of file navigation.h.

#define NavResurrect ( )    ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(TRUE); } FALSE; })

Definition at line 104 of file navigation.h.

#define NavSegment (   _start,
  _end 
)
Value:
{ \
nav_route(&waypoints[_start], &waypoints[_end]); \
}

Definition at line 147 of file navigation.h.

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

Definition at line 108 of file navigation.h.

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

Definition at line 107 of file navigation.h.

#define NavSetWaypointHere (   _wp)    ({ VECT2_COPY(waypoints[_wp], *stateGetPositionEnu_i()); FALSE; })

Definition at line 110 of file navigation.h.

#define NavStartDetectGround ( )    ({ autopilot_detect_ground_once = TRUE; FALSE; })

Definition at line 205 of file navigation.h.

#define NavVerticalAltitudeMode (   _alt,
  _pre_climb 
)
Value:
{ \
}
#define POS_BFP_OF_REAL(_af)

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

Definition at line 181 of file navigation.h.

#define NavVerticalAutoPitchMode (   _throttle)    {}

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

Definition at line 177 of file navigation.h.

#define NavVerticalAutoThrottleMode (   _pitch)
Value:
{ \
}
#define ANGLE_BFP_OF_REAL(_af)

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

Definition at line 171 of file navigation.h.

#define NavVerticalClimbMode (   _climb)
Value:
{ \
}
#define SPEED_BFP_OF_REAL(_af)

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

Definition at line 187 of file navigation.h.

#define NavVerticalThrottleMode (   _throttle)
Value:
{ \
nav_throttle = _throttle; \
}

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

Definition at line 193 of file navigation.h.

#define NormCourse (   x)
Value:
{ \
while (x < 0) x += 360; \
while (x >= 360) x -= 360; \
}

Normalize a degree angle between 0 and 359.

Definition at line 119 of file navigation.h.

#define VERTICAL_MODE_ALT   2

Definition at line 71 of file navigation.h.

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

#define VERTICAL_MODE_CLIMB   1

Definition at line 70 of file navigation.h.

Referenced by guidance_v_run().

#define VERTICAL_MODE_MANUAL   0

Definition at line 69 of file navigation.h.

Referenced by guidance_v_run().

Function Documentation

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.

float get_dist2_to_point ( struct EnuCoor_i p)

Returns squared horizontal distance to given point.

Definition at line 474 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 483 of file navigation.c.

References get_dist2_to_point(), and waypoints.

Referenced by compute_dist2_to_home().

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bool_t nav_approaching_from ( struct EnuCoor_i wp,
struct EnuCoor_i from,
int16_t  approaching_time 
)

Proximity tests on approaching a wp.

Definition at line 291 of file navigation.c.

References ARRIVED_AT_WAYPOINT, BFP_OF_REAL, FALSE, INT32_POS_FRAC, INT32_SPEED_FRAC, INT32_VECT2_NORM, INT32_VECT2_RSHIFT, stateGetPositionEnu_i(), stateGetSpeedEnu_i(), TRUE, VECT2_DIFF, VECT2_SMUL, VECT2_SUM, Int32Vect2::x, and Int32Vect2::y.

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

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bool_t 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 332 of file navigation.c.

References ARRIVED_AT_WAYPOINT, autopilot_flight_time, BFP_OF_REAL, FALSE, INT32_POS_FRAC, INT32_VECT2_NORM, INT32_VECT2_RSHIFT, INT_VECT3_ZERO, stateGetPositionEnu_i(), TRUE, VECT2_DIFF, EnuCoor_i::x, and EnuCoor_i::y.

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

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bool_t nav_detect_ground ( void  )

Definition at line 448 of file navigation.c.

References autopilot_ground_detected, FALSE, and TRUE.

void nav_home ( void  )

Home mode navigation (circle around HOME)

Home mode navigation (circle around HOME)

Nominal speed

Nominal speed

Definition at line 415 of file nav.c.

References compute_dist2_to_home(), dist2_to_home, dist2_to_wp, FAILSAFE_HOME_RADIUS, ground_alt, horizontal_mode, HORIZONTAL_MODE_WAYPOINT, INT32_VECT3_COPY, nav_altitude, nav_flight_altitude, nav_run(), nav_set_altitude(), NavCircleWaypoint, navigation_target, v_ctl_mode, V_CTL_MODE_AUTO_ALT, vertical_mode, VERTICAL_MODE_ALT, waypoints, and EnuCoor_i::z.

Referenced by autopilot_periodic(), and navigation_task().

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bool_t nav_is_in_flight ( void  )

Definition at line 454 of file navigation.c.

References autopilot_in_flight.

void nav_move_waypoint ( uint8_t  wp_id,
struct EnuCoor_i new_pos 
)

Definition at line 420 of file navigation.c.

References DefaultChannel, DefaultDevice, INT32_VECT3_COPY, nb_waypoint, waypoints, EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by dl_parse_msg(), nav_move_waypoint_lla(), and parse_dl_move_wp().

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void nav_move_waypoint_lla ( uint8_t  wp_id,
struct LlaCoor_i new_lla_pos 
)

Definition at line 408 of file navigation.c.

References enu_of_lla_point_i(), nav_move_waypoint(), State::ned_origin_i, POS_BFP_OF_REAL, state, stateIsLocalCoordinateValid(), EnuCoor_i::x, EnuCoor_i::y, and EnuCoor_i::z.

Referenced by dl_parse_msg().

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void nav_periodic_task ( void  )

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

Definition at line 430 of file nav.c.

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

Referenced by autopilot_periodic(), and navigation_task().

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unit_t nav_reset_alt ( void  )

Reset the altitude reference to the current GPS alt.

Definition at line 383 of file navigation.c.

unit_t nav_reset_reference ( void  )

Reset the geographic reference to the current GPS fix.

Definition at line 378 of file navigation.c.

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

Definition at line 206 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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bool_t nav_set_heading_current ( void  )

Set heading to the current yaw angle.

Definition at line 528 of file navigation.c.

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

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bool_t nav_set_heading_deg ( float  deg)

Set nav_heading in degrees.

Definition at line 503 of file navigation.c.

References nav_set_heading_rad().

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bool_t nav_set_heading_rad ( float  rad)

Set nav_heading in degrees.

Definition at line 496 of file navigation.c.

References ANGLE_BFP_OF_REAL, FALSE, INT32_COURSE_NORMALIZE, and nav_heading.

Referenced by nav_set_heading_deg().

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bool_t nav_set_heading_towards ( float  x,
float  y 
)

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

Definition at line 508 of file navigation.c.

References ANGLE_BFP_OF_REAL, FALSE, FLOAT_VECT2_NORM2, nav_heading, stateGetPositionEnu_f(), VECT2_DIFF, FloatVect2::x, and FloatVect2::y.

Referenced by nav_set_heading_towards_waypoint().

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bool_t nav_set_heading_towards_waypoint ( uint8_t  wp)

Set heading in the direction of a waypoint.

Definition at line 523 of file navigation.c.

References nav_set_heading_towards(), WaypointX, and WaypointY.

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

Variable Documentation

float dist2_to_home

squared distance to home waypoint

Definition at line 69 of file navigation.c.

float dist2_to_wp

squared distance to next waypoint

Definition at line 72 of file navigation.c.

float failsafe_mode_dist2

maximum squared distance to home wp before going to failsafe mode

Definition at line 68 of file navigation.c.

Referenced by autopilot_periodic().

float flight_altitude

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 73 of file nav.c.

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

uint8_t last_wp
struct EnuCoor_i nav_circle_center

Definition at line 76 of file navigation.c.

Referenced by nav_circle().

int32_t nav_circle_qdr

Definition at line 77 of file navigation.c.

Referenced by nav_circle().

int32_t nav_circle_radians

Status on the current circle.

Definition at line 52 of file nav.c.

Referenced by nav_circle(), and nav_init_stage().

int32_t nav_circle_radius

Definition at line 67 of file nav.c.

Referenced by flight_benchmark_periodic(), and nav_circle().

int32_t nav_climb

Definition at line 55 of file nav.c.

Referenced by guidance_v_run(), and nav_init().

int32_t nav_flight_altitude

Definition at line 93 of file navigation.c.

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

int32_t nav_leg_length

Definition at line 80 of file navigation.c.

Referenced by nav_init(), and nav_route().

int32_t nav_leg_progress

Definition at line 79 of file navigation.c.

Referenced by nav_init(), and nav_route().

float nav_radius

Definition at line 55 of file nav.c.

Referenced by nav_compute_baseleg(), nav_flower_run(), and nav_init().

int32_t nav_roll

Definition at line 82 of file navigation.c.

Referenced by guidance_h_run(), and nav_init().

struct EnuCoor_i nav_segment_start nav_segment_end

Definition at line 75 of file navigation.c.

Referenced by nav_route().

uint32_t nav_throttle

direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL

Definition at line 92 of file navigation.c.

Referenced by guidance_v_run(), and nav_init().

struct EnuCoor_i navigation_carrot
struct EnuCoor_i navigation_target
const uint8_t nb_waypoint

Definition at line 51 of file navigation.c.

bool_t too_far_from_home

Definition at line 70 of file navigation.c.

uint8_t vertical_mode

Definition at line 37 of file sim_ap.c.

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

struct EnuCoor_i waypoints[]

Definition at line 52 of file navigation.c.