Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
autopilot_guided.c File Reference
#include "firmwares/rotorcraft/autopilot_guided.h"
#include "autopilot.h"
#include "firmwares/rotorcraft/guidance.h"
#include "state.h"
#include "pprzlink/dl_protocol.h"
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Functions

bool autopilot_guided_goto_ned (float x, float y, float z, float heading)
 Set position and heading setpoints in GUIDED mode. More...
 
bool autopilot_guided_goto_ned_relative (float dx, float dy, float dz, float dyaw)
 Set position and heading setpoints wrt. More...
 
bool autopilot_guided_goto_body_relative (float dx, float dy, float dz, float dyaw)
 Set position and heading setpoints wrt. More...
 
bool autopilot_guided_move_ned (float vx, float vy, float vz, float heading)
 Set velocity and heading setpoints in GUIDED mode. More...
 
void autopilot_guided_update (uint8_t flags, float x, float y, float z, float yaw)
 Set guided setpoints using flag mask in GUIDED mode. More...
 
void autopilot_guided_parse_GUIDED (uint8_t *buf)
 Parse GUIDED_SETPOINT_NED messages from datalink. More...
 

Detailed Description

Autopilot guided mode interface.

Definition in file autopilot_guided.c.

Function Documentation

◆ autopilot_guided_goto_body_relative()

bool autopilot_guided_goto_body_relative ( float  dx,
float  dy,
float  dz,
float  dyaw 
)

Set position and heading setpoints wrt.

current position AND heading in GUIDED mode.

Parameters
dxrelative position (body frame, forward) in meters.
dyrelative position (body frame, right) in meters.
dzrelative position (body frame, down) in meters.
dyawOffset relative to current heading setpoint in radians.
Returns
TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 59 of file autopilot_guided.c.

References AP_MODE_GUIDED, autopilot_get_mode(), autopilot_guided_goto_ned(), heading, FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), stateIsLocalCoordinateValid(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by mavlink_common_message_handler().

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◆ autopilot_guided_goto_ned()

bool autopilot_guided_goto_ned ( float  x,
float  y,
float  z,
float  heading 
)

Set position and heading setpoints in GUIDED mode.

Parameters
xNorth position (local NED frame) in meters.
yEast position (local NED frame) in meters.
zDown position (local NED frame) in meters.
headingSetpoint in radians.
Returns
TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 36 of file autopilot_guided.c.

References AP_MODE_GUIDED, autopilot_get_mode(), guidance_h_set_guided_heading(), guidance_h_set_guided_pos(), guidance_v_set_guided_z(), and heading.

Referenced by autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned_relative(), and mavlink_common_message_handler().

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◆ autopilot_guided_goto_ned_relative()

bool autopilot_guided_goto_ned_relative ( float  dx,
float  dy,
float  dz,
float  dyaw 
)

Set position and heading setpoints wrt.

current position in GUIDED mode.

Parameters
dxOffset relative to current north position (local NED frame) in meters.
dyOffset relative to current east position (local NED frame) in meters.
dzOffset relative to current down position (local NED frame) in meters.
dyawOffset relative to current heading setpoint in radians.
Returns
TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 47 of file autopilot_guided.c.

References AP_MODE_GUIDED, autopilot_get_mode(), autopilot_guided_goto_ned(), heading, FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), stateIsLocalCoordinateValid(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by mavlink_common_message_handler().

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◆ autopilot_guided_move_ned()

bool autopilot_guided_move_ned ( float  vx,
float  vy,
float  vz,
float  heading 
)

Set velocity and heading setpoints in GUIDED mode.

Parameters
vxNorth velocity (local NED frame) in meters/sec.
vyEast velocity (local NED frame) in meters/sec.
vzDown velocity (local NED frame) in meters/sec.
headingSetpoint in radians.
Returns
TRUE if setpoint was set (currently in AP_MODE_GUIDED)

Definition at line 72 of file autopilot_guided.c.

References AP_MODE_GUIDED, autopilot_get_mode(), guidance_h_set_guided_heading(), guidance_h_set_guided_vel(), guidance_v_set_guided_vz(), and heading.

Referenced by mavlink_common_message_handler().

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◆ autopilot_guided_parse_GUIDED()

void autopilot_guided_parse_GUIDED ( uint8_t buf)

Parse GUIDED_SETPOINT_NED messages from datalink.

Definition at line 157 of file autopilot_guided.c.

References autopilot_guided_update().

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◆ autopilot_guided_update()

void autopilot_guided_update ( uint8_t  flags,
float  x,
float  y,
float  z,
float  yaw 
)

Set guided setpoints using flag mask in GUIDED mode.

Parameters
flagsBits 0-3 are used to determine the axis system to be used. If bits 0 and 1 are clear then the coordinates are set in absolute NE coordinates. If bit 1 is set bit 0 is ignored. Bits 5-7 define whether the setpoints should be used as position or velocity. Bit flags are defined as follows: bit 0: x,y as offset coordinates bit 1: x,y in body coordinates bit 2: z as offset coordinates bit 3: yaw as offset coordinates bit 4: free bit 5: x,y as vel bit 6: z as vel bit 7: yaw as rate
xNorth position/velocity in meters or meters/sec.
yEast position/velocity in meters or meters/sec.
zDown position/velocity in meters or meters/sec.
yawHeading or heading rate setpoint in radians or radians/sec.

Definition at line 96 of file autopilot_guided.c.

References AP_MODE_GUIDED, autopilot_get_mode(), guidance_h_set_guided_body_vel(), guidance_h_set_guided_heading(), guidance_h_set_guided_heading_rate(), guidance_h_set_guided_pos(), guidance_h_set_guided_vel(), guidance_v_set_guided_vz(), guidance_v_set_guided_z(), FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), stateIsLocalCoordinateValid(), FloatVect2::x, NedCoor_f::x, FloatVect2::y, NedCoor_f::y, and NedCoor_f::z.

Referenced by autopilot_guided_parse_GUIDED(), and nav_fish_velocity_run().

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