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Paparazzi UAS
v6.3_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Common flight_plan functions shared between fixedwing and rotorcraft. More...
#include "std.h"
Go to the source code of this file.
Macros | |
#define | InitStage() nav_init_stage(); |
#define | Block(x) case x: nav_block=x; |
#define | NextBlock() nav_goto_block(nav_block + 1) |
#define | GotoBlock(b) nav_goto_block(b) |
#define | Stage(s) case s: nav_stage=s; |
#define | NextStage() { nav_stage++; InitStage(); } INTENTIONAL_FALLTHRU |
#define | NextStageAndBreak() { nav_stage++; InitStage(); break; } |
#define | NextStageAndBreakFrom(wp) { last_wp = wp; NextStageAndBreak(); } |
#define | Label(x) label_ ## x: |
#define | Goto(x) { goto label_ ## x; } |
#define | Return(x) { nav_block=last_block; if (x==1) {nav_stage=0;} else {nav_stage=last_stage;} block_time=0;} |
#define | NavBlockTime() (block_time) |
Time in s since the entrance in the current block. More... | |
Functions | |
void | nav_init_stage (void) |
needs to be implemented by fixedwing and rotorcraft seperately More... | |
void | nav_init_block (void) |
void | nav_goto_block (uint8_t block_id) |
Variables | |
uint16_t | stage_time |
In s. More... | |
uint16_t | block_time |
uint8_t | nav_stage |
uint8_t | nav_block |
uint8_t | last_block |
To save the current block/stage to enable return. More... | |
uint8_t | last_stage |
uint8_t | last_wp |
Common flight_plan functions shared between fixedwing and rotorcraft.
Definition in file common_flight_plan.h.
#define Block | ( | x | ) | case x: nav_block=x; |
Definition at line 47 of file common_flight_plan.h.
#define Goto | ( | x | ) | { goto label_ ## x; } |
Definition at line 57 of file common_flight_plan.h.
#define GotoBlock | ( | b | ) | nav_goto_block(b) |
Definition at line 49 of file common_flight_plan.h.
#define InitStage | ( | ) | nav_init_stage(); |
Definition at line 45 of file common_flight_plan.h.
#define Label | ( | x | ) | label_ ## x: |
Definition at line 56 of file common_flight_plan.h.
#define NavBlockTime | ( | ) | (block_time) |
Time in s since the entrance in the current block.
Definition at line 61 of file common_flight_plan.h.
#define NextBlock | ( | ) | nav_goto_block(nav_block + 1) |
Definition at line 48 of file common_flight_plan.h.
Definition at line 52 of file common_flight_plan.h.
Definition at line 53 of file common_flight_plan.h.
#define NextStageAndBreakFrom | ( | wp | ) | { last_wp = wp; NextStageAndBreak(); } |
Definition at line 54 of file common_flight_plan.h.
#define Return | ( | x | ) | { nav_block=last_block; if (x==1) {nav_stage=0;} else {nav_stage=last_stage;} block_time=0;} |
Definition at line 58 of file common_flight_plan.h.
Definition at line 51 of file common_flight_plan.h.
void nav_goto_block | ( | uint8_t | block_id | ) |
Definition at line 51 of file common_flight_plan.c.
References b, last_block, last_stage, nav_block, nav_init_block(), and nav_stage.
Referenced by gsm_receive_content(), mavlink_block_message_handler(), and nav_parse_BLOCK().
void nav_init_block | ( | void | ) |
Definition at line 41 of file common_flight_plan.c.
References block_time, InitStage, nav_block, and nav_stage.
Referenced by nav_goto_block().
void nav_init_stage | ( | void | ) |
needs to be implemented by fixedwing and rotorcraft seperately
Definition at line 92 of file nav.c.
References last_x, last_y, nav, nav_circle_radians, nav_circle_radians_no_rewind, nav_in_circle, nav_in_segment, nav_shift, RotorcraftNavigation::nav_stage_init, stage_time, stateGetPositionEnu_f(), VECT3_COPY, EnuCoor_f::x, and EnuCoor_f::y.
Referenced by gvf_nav_survey_polygon_run(), nav_bungee_takeoff_run(), nav_flower_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_skid_landing_run(), nav_survey_hybrid_run(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), and nav_vertical_raster_run().
uint16_t block_time |
Definition at line 33 of file common_flight_plan.h.
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extern |
To save the current block/stage to enable return.
Definition at line 37 of file common_flight_plan.c.
Referenced by nav_goto_block().
uint8_t last_stage |
Definition at line 36 of file common_flight_plan.h.
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extern |
uint8_t nav_block |
Definition at line 35 of file common_flight_plan.h.
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extern |
Definition at line 34 of file common_flight_plan.c.
Referenced by nav_goto_block(), nav_init(), nav_init_block(), and send_nav_status().
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extern |
In s.
Definition at line 32 of file common_flight_plan.c.
Referenced by common_nav_periodic_task(), nav_heli_spinup_run(), nav_init_stage(), nav_periodic_task(), and send_nav_status().