navigation.h

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/*
* Copyright (C) 2008-2011  The Paparazzi Team
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING.  If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
 
#ifndef NAVIGATION_H
#define NAVIGATION_H
 
#include "std.h"
#include "math/pprz_geodetic_int.h"
 
#include "modules/nav/waypoints.h"
#include "modules/nav/common_flight_plan.h"
#include "autopilot.h"
 
#ifndef CARROT
#define CARROT 0
#endif
 
#ifndef NAVIGATION_FREQUENCY
#if PERIODIC_FREQUENCY == 512
#define NAVIGATION_FREQUENCY 16
#else // if not 512, assume a multiple of 20 (e.g. 200, 500, 1000, ...)
#define NAVIGATION_FREQUENCY 20
#endif
#endif
 
extern struct EnuCoor_i navigation_target;
extern struct EnuCoor_i navigation_carrot;
 
extern uint8_t last_wp __attribute__((unused));
 
extern uint8_t horizontal_mode;
 
extern int32_t nav_circle_radius, nav_circle_qdr, nav_circle_radians;
#define HORIZONTAL_MODE_WAYPOINT  0
#define HORIZONTAL_MODE_ROUTE     1
#define HORIZONTAL_MODE_CIRCLE    2
#define HORIZONTAL_MODE_ATTITUDE  3
#define HORIZONTAL_MODE_MANUAL    4
extern int32_t nav_roll, nav_pitch;     
extern int32_t nav_heading; 
extern int32_t nav_cmd_roll, nav_cmd_pitch, nav_cmd_yaw;
extern float nav_radius;
extern float nav_climb_vspeed, nav_descend_vspeed;
 
extern int32_t nav_leg_progress;
extern uint32_t nav_leg_length;
 
extern bool nav_survey_active;
 
extern uint8_t vertical_mode;
extern uint32_t nav_throttle;  
extern int32_t nav_climb, nav_altitude, nav_flight_altitude;
extern float flight_altitude;
#define VERTICAL_MODE_MANUAL      0
#define VERTICAL_MODE_CLIMB       1
#define VERTICAL_MODE_ALT         2
 
extern float dist2_to_home;      
extern bool too_far_from_home;
extern float failsafe_mode_dist2; 
 
extern float dist2_to_wp;       
 
extern bool exception_flag[10];
 
 
/*****************************************************************
 * macros to ensure compatibility between fixedwing and rotorcraft
 *****************************************************************/
 
#define GetPosX() (stateGetPositionEnu_f()->x)
#define GetPosY() (stateGetPositionEnu_f()->y)
#define GetPosAlt() (stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)
#define GetPosHeight() (stateGetPositionEnu_f()->z)
 
#define GetAltRef() (state.ned_origin_f.hmsl)
 
 
#define NormCourse(x) { \
    while (x < 0) x += 360; \
    while (x >= 360) x -= 360; \
  }
 
extern void nav_init(void);
extern void nav_run(void);
 
extern void set_exception_flag(uint8_t flag_num);
 
extern float nav_max_speed;
extern bool force_forward;
extern struct FloatVect3 nav_get_speed_sp_from_go(struct EnuCoor_i target, float pos_gain);
extern struct FloatVect3 nav_get_speed_setpoint(float pos_gain);
extern struct FloatVect3 nav_get_speed_sp_from_line(struct FloatVect2 line_v, struct FloatVect2 to_end_v, struct EnuCoor_i target, float pos_gain);
 
extern float get_dist2_to_waypoint(uint8_t wp_id);
extern float get_dist2_to_point(struct EnuCoor_i *p);
extern void compute_dist2_to_home(void);
extern void nav_home(void);
extern void nav_set_manual(int32_t roll, int32_t pitch, int32_t yaw);
 
extern void nav_reset_reference(void) __attribute__((unused));
extern void nav_reset_alt(void) __attribute__((unused));
extern void nav_periodic_task(void);
 
extern bool nav_is_in_flight(void);
 
extern void nav_set_heading_rad(float rad);
extern void nav_set_heading_deg(float deg);
extern void nav_set_heading_towards(float x, float y);
extern void nav_set_heading_towards_waypoint(uint8_t wp);
extern void nav_set_heading_towards_target(void);
extern void nav_set_heading_current(void);
extern void nav_set_failsafe(void);
 
/* ground detection */
extern bool nav_detect_ground(void);
#define NavStartDetectGround() ({ autopilot.detect_ground_once = true; false; })
#define NavDetectGround() nav_detect_ground()
 
/* switching motors on/off */
static inline void NavKillThrottle(void)
{
  if (autopilot_get_mode() == AP_MODE_NAV) { autopilot_set_motors_on(FALSE); }
}
static inline void NavResurrect(void)
{
  if (autopilot_get_mode() == AP_MODE_NAV) { autopilot_set_motors_on(TRUE); }
}
 
 
#define NavSetManual nav_set_manual
#define NavSetFailsafe nav_set_failsafe
 
 
#define NavSetGroundReferenceHere nav_reset_reference
#define NavSetAltitudeReferenceHere nav_reset_alt
 
#define NavSetWaypointHere waypoint_set_here_2d
#define NavCopyWaypoint waypoint_copy
#define NavCopyWaypointPositionOnly waypoint_position_copy
 
 
bool nav_approaching_from(struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_t approaching_time);
#define NavApproaching(wp, time) nav_approaching_from(&waypoints[wp].enu_i, NULL, time)
#define NavApproachingFrom(wp, from, time) nav_approaching_from(&waypoints[wp].enu_i, &waypoints[from].enu_i, time)
 
bool nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time);
#define NavCheckWaypointTime(wp, time) nav_check_wp_time(&waypoints[wp].enu_i, time)
 
 
/* should we really keep this one ??
 * maybe better to use the `goto` flight plan primitive and
 * add a `pre_call` or `call_once` to set the heading?
 */
static inline void NavGotoWaypointHeading(uint8_t wp)
{
  vertical_mode = VERTICAL_MODE_ALT;
  horizontal_mode = HORIZONTAL_MODE_WAYPOINT;
  VECT3_COPY(navigation_target, waypoints[wp].enu_i);
  dist2_to_wp = get_dist2_to_waypoint(wp);
  nav_set_heading_towards_waypoint(wp);
}
 
 
 
/***********************************************************
 * macros used by flight plan to set different modes
 **********************************************************/
 
#define NavVerticalAutoThrottleMode(_pitch) {   \
    nav_pitch = ANGLE_BFP_OF_REAL(_pitch);      \
  }
 
#define NavVerticalAutoPitchMode(_throttle) {}
 
#define NavVerticalAltitudeMode(_alt, _pre_climb) { \
    vertical_mode = VERTICAL_MODE_ALT;              \
    nav_altitude = POS_BFP_OF_REAL(_alt);           \
  }
 
#define NavVerticalClimbMode(_climb) {          \
    vertical_mode = VERTICAL_MODE_CLIMB;        \
    nav_climb = SPEED_BFP_OF_REAL(_climb);      \
  }
 
#define NavVerticalThrottleMode(_throttle) {    \
    vertical_mode = VERTICAL_MODE_MANUAL;       \
    nav_throttle = _throttle;                   \
  }
 
#define NavHeading nav_set_heading_rad
 
#define NavAttitude(_roll) {                    \
    horizontal_mode = HORIZONTAL_MODE_ATTITUDE; \
    nav_roll = ANGLE_BFP_OF_REAL(_roll);        \
  }
 
 
 
/***********************************************************
 * built in navigation routines
 **********************************************************/
 
/*********** Navigation to  waypoint *************************************/
static inline void NavGotoWaypoint(uint8_t wp)
{
  horizontal_mode = HORIZONTAL_MODE_WAYPOINT;
  VECT3_COPY(navigation_target, waypoints[wp].enu_i);
  dist2_to_wp = get_dist2_to_waypoint(wp);
}
 
/*********** Navigation on a circle **************************************/
extern void nav_circle(struct EnuCoor_i *wp_center, int32_t radius);
static inline void NavCircleWaypoint(uint8_t wp_center, float radius)
{
  horizontal_mode = HORIZONTAL_MODE_CIRCLE;
  nav_circle(&waypoints[wp_center].enu_i, POS_BFP_OF_REAL(radius));
}
 
#define NavCircleCount() ((float)abs(nav_circle_radians) / INT32_ANGLE_2_PI)
#define NavCircleQdr() ({ int32_t qdr = INT32_DEG_OF_RAD(INT32_ANGLE_PI_2 - nav_circle_qdr) >> INT32_ANGLE_FRAC; NormCourse(qdr); qdr; })
 
#define CloseDegAngles(_c1, _c2) ({ int32_t _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff || _diff < 10; })
#define CloseRadAngles(_c1, _c2) ({ float _diff = _c1 - _c2; NormRadAngle(_diff); fabsf(_diff) < 0.0177; })
 
#define NavQdrCloseTo(x) CloseDegAngles(((x) >> INT32_ANGLE_FRAC), NavCircleQdr())
#define NavCourseCloseTo(x) {}
 
/*********** Navigation along an oval *************************************/
extern void nav_oval_init(void);
extern void nav_oval(uint8_t, uint8_t, float);
extern uint8_t nav_oval_count;
#define Oval(a, b, c) nav_oval((b), (a), (c))
 
/*********** Navigation along a line *************************************/
extern void nav_route(struct EnuCoor_i *wp_start, struct EnuCoor_i *wp_end);
extern struct FloatVect2 line_vect, to_end_vect;
#ifdef GUIDANCE_INDI_HYBRID
static inline void NavSegment(uint8_t wp_start, uint8_t wp_end)
{
  VECT2_DIFF(line_vect, waypoints[wp_end].enu_f, waypoints[wp_start].enu_f);
  VECT2_DIFF(to_end_vect, waypoints[wp_end].enu_f, *stateGetPositionEnu_f());
  VECT3_COPY(navigation_target, waypoints[wp_end].enu_i);
  horizontal_mode = HORIZONTAL_MODE_ROUTE;
}
#else
static inline void NavSegment(uint8_t wp_start, uint8_t wp_end)
{
  horizontal_mode = HORIZONTAL_MODE_ROUTE;
  nav_route(&waypoints[wp_start].enu_i, &waypoints[wp_end].enu_i);
}
#endif
 
static inline void NavGlide(uint8_t start_wp, uint8_t wp)
{
  int32_t start_alt = waypoints[start_wp].enu_i.z;
  int32_t diff_alt = waypoints[wp].enu_i.z - start_alt;
  int32_t alt = start_alt + ((diff_alt * nav_leg_progress) / nav_leg_length);
  NavVerticalAltitudeMode(POS_FLOAT_OF_BFP(alt), 0);
}
 
/* follow another aircraft */
#define NavFollow nav_follow
extern void nav_follow(uint8_t _ac_id, uint32_t distance, uint32_t height);
 
 
 
/***********************************************************
 * settings handlers
 **********************************************************/
#define nav_IncreaseShift(x) {}
#define nav_SetNavRadius(x) {}
#define navigation_SetFlightAltitude(x) { \
    flight_altitude = x; \
    nav_flight_altitude = POS_BFP_OF_REAL(flight_altitude - state.ned_origin_f.hmsl); \
  }
 
#endif /* NAVIGATION_H */