nav_trinity.h File Reference

#include "std.h"
#include "math/pprz_geodetic_float.h"

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Functions
void	nav_trinity_init (void)
	Init function called by modules init. More...
void	nav_trinity_setup (float init_x, float init_y, float init_z, int turn, float desired_radius, float vx, float vy, float vz)
	Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters. More...
bool	nav_trinity_run (void)
	Navigation function Called by flight plan or mission run function. More...

Detailed Description

Author

Titouan Verdu Adaptative trinity pattern for cloud exploration.

Definition in file nav_trinity.h.

Function Documentation

nav_trinity_init()

void nav_trinity_init

(

void

)

Init function called by modules init.

Definition at line 189 of file nav_trinity.c.

References DEFAULT_CIRCLE_RADIUS, NavTrinity::inside_cloud, NavTrinity::last_border_time, lwc_cb(), lwc_ev, NavTrinity::max_recover_radius, mission_register(), nav_trinity, NAV_TRINITY_LWC_ID, NavTrinity::radius, NavTrinity::recover_radius, NavTrinity::status, and TRINITY_ENTER.

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nav_trinity_run()

bool nav_trinity_run

(

void

)

Navigation function Called by flight plan or mission run function.

Returns

true until pattern ends or fail

Definition at line 230 of file nav_trinity.c.

nav_trinity_setup()

void nav_trinity_setup	(	float	init_x,
		float	init_y,
		float	init_z,
		int	turn,
		float	desired_radius,
		float	vx,
		float	vy,
		float	vz
	)

Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters.

Definition at line 205 of file nav_trinity.c.

References NavTrinity::actual, NavTrinity::inside_cloud, nav_dt, nav_trinity, NavTrinity::pos_incr, NavTrinity::radius, NavTrinity::radius_sign, NavTrinity::rotation, stateGetPositionEnu_f(), NavTrinity::status, NavTrinity::target, TRINITY_ENTER, TRINITY_LEFT, TRINITY_RIGHT, and VECT3_ASSIGN.

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