autopilot_guided.c File Reference

Autopilot guided mode interface. More...

#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

dx	relative position (body frame, forward) in meters.
dy	relative position (body frame, right) in meters.
dz	relative position (body frame, down) in meters.
dyaw	Offset 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

x	North position (local NED frame) in meters.
y	East position (local NED frame) in meters.
z	Down position (local NED frame) in meters.
heading	Setpoint 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_heading(), guidance_h_set_pos(), guidance_v_set_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

dx	Offset relative to current north position (local NED frame) in meters.
dy	Offset relative to current east position (local NED frame) in meters.
dz	Offset relative to current down position (local NED frame) in meters.
dyaw	Offset 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

vx	North velocity (local NED frame) in meters/sec.
vy	East velocity (local NED frame) in meters/sec.
vz	Down velocity (local NED frame) in meters/sec.
heading	Setpoint 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_heading(), guidance_h_set_vel(), guidance_v_set_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 152 of file autopilot_guided.c.

References AP_MODE_GUIDED, autopilot_get_mode(), and 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

flags	Bits 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
x	North position/velocity in meters or meters/sec.
y	East position/velocity in meters or meters/sec.
z	Down position/velocity in meters or meters/sec.
yaw	Heading or heading rate setpoint in radians or radians/sec.

Definition at line 96 of file autopilot_guided.c.

References guidance_h_set_body_vel(), guidance_h_set_heading(), guidance_h_set_heading_rate(), guidance_h_set_pos(), guidance_h_set_vel(), guidance_v_set_vz(), guidance_v_set_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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