common_nav.h File Reference

#include "std.h"
#include "state.h"
#include "modules/nav/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)
	waypoint altitude in m above MSL More...
#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)
#define	NavSetWaypointPosAndAltHere(_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	nav_move_waypoint_enu (uint8_t wp_id, float x, float y, float alt)
	Move a waypoint in local frame. More...
void	nav_move_waypoint_point (uint8_t wp_id, struct point *p)
	Move a waypoint from point structure (local frame). More...
void	nav_send_waypoint (uint8_t wp_id)
	Send a waypoint throught default telemetry channel. More...
void	compute_dist2_to_home (void)
	Computes squared distance to the HOME waypoint potentially sets too_far_from_home. More...
void	nav_reset_utm_zone (void)
	Reset the UTM zone to current GPS fix. More...
void	nav_reset_reference (void)
	Reset the geographic reference to the current GPS fix. More...
void	nav_reset_alt (void)
	Reset the altitude reference to the current GPS alt. More...
void	nav_update_waypoints_alt (void)
	Shift altitude of the waypoint according to a new ground altitude. More...
void	common_nav_periodic_task (void)
float	get_time_to_home (void)
	Compute time to home use wind and airspeed when available. More...

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	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

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Data Structure Documentation

point

struct point

Definition at line 39 of file common_nav.h.

Data Fields
float	a
float	x
float	y

Macro Definition Documentation

Height

#define Height

(

_h

)

(_h + ground_alt)

Definition at line 49 of file common_nav.h.

NavSetAltitudeReferenceHere

#define NavSetAltitudeReferenceHere

(

)

({ nav_reset_alt(); nav_update_waypoints_alt(); false; })

Definition at line 79 of file common_nav.h.

NavSetGroundReferenceHere

#define NavSetGroundReferenceHere

(

)

({ nav_reset_reference(); nav_update_waypoints_alt(); false; })

Definition at line 77 of file common_nav.h.

NavSetWaypointHere

#define NavSetWaypointHere

(

_wp

)

Value:

    ({ \
    waypoints[_wp].x = stateGetPositionEnu_f()->x; \
    waypoints[_wp].y = stateGetPositionEnu_f()->y; \
    false; \
  })

Definition at line 81 of file common_nav.h.

NavSetWaypointPosAndAltHere

#define NavSetWaypointPosAndAltHere

(

_wp

)

Value:

    ({ \
    waypoints[_wp].x = stateGetPositionEnu_f()->x; \
    waypoints[_wp].y = stateGetPositionEnu_f()->y; \
    waypoints[_wp].a = stateGetPositionEnu_f()->z + ground_alt; \
    false; \
  })

Definition at line 87 of file common_nav.h.

WaypointAlt

#define WaypointAlt

(

_wp

)

(waypoints[_wp].a)

waypoint altitude in m above MSL

Definition at line 48 of file common_nav.h.

WaypointX

#define WaypointX

(

_wp

)

(waypoints[_wp].x)

Definition at line 45 of file common_nav.h.

WaypointY

#define WaypointY

(

_wp

)

(waypoints[_wp].y)

Definition at line 46 of file common_nav.h.

Function Documentation

common_nav_periodic_task()

void common_nav_periodic_task

(

void

)

Definition at line 153 of file common_nav.c.

References block_time, NAVIGATION_FREQUENCY, and stage_time.

Referenced by navigation_task().

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compute_dist2_to_home()

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 455 of file navigation.c.

References dist2_to_home, RoverNavigation::dist2_to_home, get_dist2_to_waypoint(), max_dist2_from_home, nav, stateGetPositionEnu_f(), too_far_from_home, RoverNavigation::too_far_from_home, waypoints, point::x, EnuCoor_f::x, point::y, and EnuCoor_f::y.

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

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get_time_to_home()

float get_time_to_home

(

void

)

Compute time to home use wind and airspeed when available.

Definition at line 66 of file common_nav.c.

References f, float_vect2_norm(), stateGetAirspeed_f(), stateGetHorizontalWindspeed_f(), stateGetPositionEnu_f(), stateIsAirspeedValid(), stateIsWindspeedValid(), waypoints, point::x, FloatVect2::x, EnuCoor_f::x, point::y, FloatVect2::y, and EnuCoor_f::y.

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nav_move_waypoint()

void nav_move_waypoint	(	uint8_t	wp_id,
		float	ux,
		float	uy,
		float	alt
	)

Move a waypoint to given UTM coordinates.

Parameters

[in]	wp_id	Waypoint ID
[in]	ux	UTM x (east) coordinate
[in]	uy	UTM y (north) coordinate
[in]	alt	Altitude above MSL.

Definition at line 164 of file common_nav.c.

References point::a, UtmCoor_f::alt, max_dist_from_home, nav_utm_east0, nav_utm_north0, nb_waypoint, waypoints, point::x, and point::y.

Referenced by firmware_parse_msg().

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nav_move_waypoint_enu()

void nav_move_waypoint_enu	(	uint8_t	wp_id,
		float	x,
		float	y,
		float	alt
	)

Move a waypoint in local frame.

Parameters

[in]	wp_id	Waypoint ID
[in]	ux	x (east) coordinate
[in]	uy	y (north) coordinate
[in]	alt	Altitude above MSL.

Definition at line 184 of file common_nav.c.

References point::a, UtmCoor_f::alt, max_dist_from_home, nb_waypoint, waypoints, point::x, and point::y.

Referenced by nav_lace_run(), nav_move_waypoint_point(), nav_rosette_run(), and nav_trinity_run().

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nav_move_waypoint_point()

void nav_move_waypoint_point	(	uint8_t	wp_id,
		struct point *	p
	)

Move a waypoint from point structure (local frame).

Parameters

[in]	wp_id	Waypoint ID
[in]	p	new point

Definition at line 202 of file common_nav.c.

References nav_move_waypoint_enu(), and p.

Referenced by cloud_sim_move(), and cloud_sim_reset().

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nav_reset_alt()

void nav_reset_alt

(

void

)

Reset the altitude reference to the current GPS alt.

Definition at line 361 of file navigation.c.

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

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nav_reset_reference()

void nav_reset_reference

(

void

)

Reset the geographic reference to the current GPS fix.

Definition at line 354 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, waypoints_localize_all(), and UtmCoor_f::zone.

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nav_reset_utm_zone()

void nav_reset_utm_zone

(

void

)

Reset the UTM zone to current GPS fix.

Definition at line 102 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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nav_send_waypoint()

void nav_send_waypoint

(

uint8_t

wp_id

)

Send a waypoint throught default telemetry channel.

Parameters

[in]

wp_id

Waypoint ID

Definition at line 210 of file common_nav.c.

References point::a, UtmCoor_f::alt, DefaultChannel, DefaultDevice, UtmCoor_f::east, nav_utm_east0, nav_utm_north0, nav_utm_zone0, nb_waypoint, UtmCoor_f::north, waypoints, point::x, point::y, and UtmCoor_f::zone.

Referenced by cloud_sim_move(), cloud_sim_reset(), nav_lace_run(), nav_rosette_run(), and nav_trinity_run().

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nav_update_waypoints_alt()

void nav_update_waypoints_alt

(

void

)

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

Definition at line 145 of file common_nav.c.

References point::a, ground_alt, previous_ground_alt, and waypoints.

Variable Documentation

dist2_to_home

float dist2_to_home

squared distance to home waypoint

Definition at line 87 of file navigation.c.

Referenced by autopilot_static_periodic(), compute_dist2_to_home(), monitor_task(), nav_home(), nav_init(), and send_nav_status().

dist2_to_wp

float dist2_to_wp

squared distance to next waypoint

Definition at line 90 of file navigation.c.

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

ground_alt

float ground_alt

size == nb_waypoint, waypoint 0 is a dummy waypoint

altitude of the ground in m above MSL

Definition at line 41 of file common_nav.c.

Referenced by baro_ets_read_event(), baro_MS5534A_event(), cam_segment_periodic(), cam_waypoint_target(), formation_flight(), formation_init(), ins_alt_float_init(), ins_alt_float_update_baro(), nav_cube_run(), nav_home(), nav_init(), nav_lace_run(), nav_reset_alt(), nav_reset_reference(), nav_reset_utm_zone(), nav_rosette_run(), nav_trinity_run(), nav_update_waypoints_alt(), parachute_compute_approach(), send_nav_ref(), stop_formation(), tcas_init(), tcas_periodic_task_1Hz(), tcas_periodic_task_4Hz(), and vPoint().

max_dist_from_home

float max_dist_from_home

Definition at line 84 of file navigation.c.

Referenced by mission_point_of_lla(), nav_move_waypoint(), and nav_move_waypoint_enu().

nav_utm_east0

int32_t nav_utm_east0

Definition at line 43 of file common_nav.c.

Referenced by copilot_parse_move_wp_dl(), DownlinkSendWp(), firmware_parse_msg(), ins_alt_float_init(), ins_float_invariant_init(), ins_gps_passthrough_init(), ins_mekf_wind_wrapper_init(), ins_xsens700_init(), ins_xsens_init(), mission_point_of_lla(), nav_move_waypoint(), nav_reset_reference(), nav_reset_utm_zone(), nav_send_waypoint(), put_lat_lon_home(), send_nav_ref(), and vPoint().

nav_utm_north0

int32_t nav_utm_north0

Definition at line 44 of file common_nav.c.

Referenced by copilot_parse_move_wp_dl(), DownlinkSendWp(), firmware_parse_msg(), ins_alt_float_init(), ins_float_invariant_init(), ins_gps_passthrough_init(), ins_mekf_wind_wrapper_init(), ins_xsens700_init(), ins_xsens_init(), mission_point_of_lla(), nav_move_waypoint(), nav_reset_reference(), nav_reset_utm_zone(), nav_send_waypoint(), put_lat_lon_home(), send_nav_ref(), and vPoint().

nav_utm_zone0

uint8_t nav_utm_zone0

Definition at line 45 of file common_nav.c.

Referenced by copilot_parse_move_wp_dl(), DownlinkSendWp(), firmware_parse_msg(), gps_cb(), ins_alt_float_init(), ins_alt_float_update_gps(), ins_float_invariant_init(), ins_float_invariant_update_gps(), ins_gps_passthrough_init(), ins_mekf_wind_wrapper_init(), ins_xsens700_init(), ins_xsens_init(), mission_point_of_lla(), nav_reset_reference(), nav_reset_utm_zone(), nav_send_waypoint(), put_lat_lon_home(), send_nav_ref(), and vPoint().

nb_waypoint

const uint8_t nb_waypoint

Definition at line 38 of file common_nav.c.

too_far_from_home

bool too_far_from_home

Definition at line 88 of file navigation.c.

Referenced by autopilot_static_on_rc_frame(), autopilot_static_periodic(), compute_dist2_to_home(), and nav_init().

waypoints

struct point waypoints[]

Definition at line 39 of file common_nav.c.