chemotaxis.c File Reference

#include "modules/enose/chemotaxis.h"
#include "generated/airframe.h"
#include "state.h"
#include "std.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/flight_plan.h"
#include "subsystems/datalink/downlink.h"
#include "modules/enose/chemo_detect.h"

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Macros
#define	MAX_RADIUS   250
#define	ALPHA   0.5

Functions
bool_t	nav_chemotaxis_init (uint8_t c, uint8_t plume)
bool_t	nav_chemotaxis (uint8_t c, uint8_t plume)

Variables
static uint8_t	last_plume_value
static float	radius
static int8_t	sign

Macro Definition Documentation

#define ALPHA   0.5

Definition at line 11 of file chemotaxis.c.

Referenced by nav_chemotaxis().

#define MAX_RADIUS   250

Definition at line 10 of file chemotaxis.c.

Referenced by nav_chemotaxis(), and nav_chemotaxis_init().

Function Documentation

bool_t nav_chemotaxis	(	uint8_t	c,
		uint8_t	plume
	)

Definition at line 28 of file chemotaxis.c.

References ALPHA, chemo_sensor, DEFAULT_CIRCLE_RADIUS, last_plume_value, MAX_CHEMO, MAX_RADIUS, NavCircleWaypoint, radius, sign, stateGetHorizontalSpeedDir_f(), stateGetPositionEnu_f(), TRUE, waypoints, point::x, FloatVect2::x, EnuCoor_f::x, point::y, FloatVect2::y, and EnuCoor_f::y.

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bool_t nav_chemotaxis_init	(	uint8_t	c,
		uint8_t	plume
	)

Definition at line 18 of file chemotaxis.c.

References FALSE, last_plume_value, MAX_RADIUS, radius, sign, waypoints, point::x, and point::y.

Variable Documentation

uint8_t last_plume_value

static

Definition at line 13 of file chemotaxis.c.

Referenced by nav_chemotaxis(), and nav_chemotaxis_init().

float radius

static

Definition at line 15 of file chemotaxis.c.

Referenced by mission_nav_circle(), nav_chemotaxis(), nav_chemotaxis_init(), nav_circle(), nav_circle_XY(), nav_compute_baseleg(), nav_line_border_run(), nav_line_osam_run(), nav_oval(), nav_survey_disc_run(), snav_init(), and snav_on_time().

int8_t sign

static

Definition at line 16 of file chemotaxis.c.

Referenced by nav_chemotaxis(), and nav_chemotaxis_init().