Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
common_nav.c File Reference
#include "modules/nav/common_nav.h"
#include "generated/flight_plan.h"
#include "modules/ins/ins.h"
#include "math/pprz_geodetic_float.h"
#include "modules/datalink/downlink.h"
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Go to the source code of this file.

Functions

void compute_dist2_to_home (void)
 Computes squared distance to the HOME waypoint. More...
 
float get_time_to_home (void)
 Compute time to home use wind and airspeed when available. More...
 
void nav_reset_utm_zone (void)
 Reset the UTM zone to current GPS fix. More...
 
void nav_reset_reference (void)
 Reset the geographic reference to the current GPS fix. More...
 
void nav_reset_alt (void)
 Reset the altitude reference to the current GPS alt. More...
 
void nav_update_waypoints_alt (void)
 Shift altitude of the waypoint according to a new ground altitude. More...
 
void common_nav_periodic_task ()
 
void nav_move_waypoint (uint8_t wp_id, float ux, float uy, float alt)
 Move a waypoint to given UTM coordinates. More...
 
void nav_move_waypoint_enu (uint8_t wp_id, float x, float y, float alt)
 Move a waypoint in local frame. More...
 
void nav_move_waypoint_point (uint8_t wp_id, struct point *p)
 Move a waypoint from point structure (local frame). More...
 
void nav_send_waypoint (uint8_t wp_id)
 Send a waypoint throught default telemetry channel. More...
 

Variables

float dist2_to_home
 squared distance to home waypoint More...
 
float dist2_to_wp
 squared distance to next waypoint More...
 
bool too_far_from_home
 
const uint8_t nb_waypoint = NB_WAYPOINT
 
struct point waypoints [NB_WAYPOINT] = WAYPOINTS_UTM
 size == nb_waypoint, waypoint 0 is a dummy waypoint More...
 
float ground_alt
 size == nb_waypoint, waypoint 0 is a dummy waypoint More...
 
int32_t nav_utm_east0 = NAV_UTM_EAST0
 
int32_t nav_utm_north0 = NAV_UTM_NORTH0
 
uint8_t nav_utm_zone0 = NAV_UTM_ZONE0
 
float max_dist_from_home = MAX_DIST_FROM_HOME
 
static float previous_ground_alt
 

Function Documentation

◆ common_nav_periodic_task()

void common_nav_periodic_task ( )

Definition at line 153 of file common_nav.c.

References block_time, NAVIGATION_FREQUENCY, and stage_time.

Referenced by navigation_task().

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◆ compute_dist2_to_home()

void compute_dist2_to_home ( void  )

Computes squared distance to the HOME waypoint.

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Updates dist2_to_home and potentially sets too_far_from_home

Definition at line 51 of file common_nav.c.

References dist2_to_home, get_dist2_to_waypoint(), max_dist2_from_home, stateGetPositionEnu_f(), too_far_from_home, waypoints, point::x, EnuCoor_f::x, point::y, and EnuCoor_f::y.

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◆ get_time_to_home()

float get_time_to_home ( void  )

Compute time to home use wind and airspeed when available.

Definition at line 66 of file common_nav.c.

References f, float_vect2_norm(), stateGetAirspeed_f(), stateGetHorizontalWindspeed_f(), stateGetPositionEnu_f(), stateIsAirspeedValid(), stateIsWindspeedValid(), waypoints, point::x, FloatVect2::x, EnuCoor_f::x, point::y, FloatVect2::y, and EnuCoor_f::y.

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◆ nav_move_waypoint()

void nav_move_waypoint ( uint8_t  wp_id,
float  ux,
float  uy,
float  alt 
)

Move a waypoint to given UTM coordinates.

Parameters
[in]wp_idWaypoint ID
[in]uxUTM x (east) coordinate
[in]uyUTM y (north) coordinate
[in]altAltitude above MSL.

Definition at line 164 of file common_nav.c.

References point::a, UtmCoor_f::alt, max_dist_from_home, nav_utm_east0, nav_utm_north0, nb_waypoint, waypoints, point::x, and point::y.

Referenced by nav_parse_MOVE_WP().

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◆ nav_move_waypoint_enu()

void nav_move_waypoint_enu ( uint8_t  wp_id,
float  x,
float  y,
float  alt 
)

Move a waypoint in local frame.

Parameters
[in]wp_idWaypoint ID
[in]uxx (east) coordinate
[in]uyy (north) coordinate
[in]altAltitude above MSL.

Definition at line 184 of file common_nav.c.

References point::a, UtmCoor_f::alt, max_dist_from_home, nb_waypoint, waypoints, point::x, and point::y.

Referenced by nav_lace_run(), nav_move_waypoint_point(), nav_rosette_run(), and nav_trinity_run().

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◆ nav_move_waypoint_point()

void nav_move_waypoint_point ( uint8_t  wp_id,
struct point p 
)

Move a waypoint from point structure (local frame).

Parameters
[in]wp_idWaypoint ID
[in]pnew point

Definition at line 202 of file common_nav.c.

References nav_move_waypoint_enu(), and p.

Referenced by cloud_sim_move(), and cloud_sim_reset().

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◆ nav_reset_alt()

void nav_reset_alt ( void  )

Reset the altitude reference to the current GPS alt.

Definition at line 135 of file common_nav.c.

References UtmCoor_f::alt, ground_alt, ins_reset_altitude_ref(), previous_ground_alt, state, State::utm_origin_f, and waypoints_localize_all().

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◆ nav_reset_reference()

void nav_reset_reference ( void  )

Reset the geographic reference to the current GPS fix.

Definition at line 119 of file common_nav.c.

References UtmCoor_f::alt, UtmCoor_f::east, ground_alt, ins_reset_local_origin(), nav_utm_east0, nav_utm_north0, nav_utm_zone0, UtmCoor_f::north, previous_ground_alt, state, State::utm_origin_f, waypoints_localize_all(), and UtmCoor_f::zone.

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◆ nav_reset_utm_zone()

void nav_reset_utm_zone ( void  )

Reset the UTM zone to current GPS fix.

Definition at line 102 of file common_nav.c.

References UtmCoor_f::alt, UtmCoor_f::east, ground_alt, ins_reset_utm_zone(), nav_utm_east0, nav_utm_north0, nav_utm_zone0, UtmCoor_f::north, and UtmCoor_f::zone.

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◆ nav_send_waypoint()

void nav_send_waypoint ( uint8_t  wp_id)

Send a waypoint throught default telemetry channel.

Parameters
[in]wp_idWaypoint ID

Definition at line 210 of file common_nav.c.

References point::a, UtmCoor_f::alt, DefaultChannel, DefaultDevice, UtmCoor_f::east, nav_utm_east0, nav_utm_north0, nav_utm_zone0, nb_waypoint, UtmCoor_f::north, waypoints, point::x, point::y, and UtmCoor_f::zone.

Referenced by cloud_sim_move(), cloud_sim_reset(), nav_lace_run(), nav_rosette_run(), and nav_trinity_run().

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◆ nav_update_waypoints_alt()

void nav_update_waypoints_alt ( void  )

Shift altitude of the waypoint according to a new ground altitude.

Definition at line 145 of file common_nav.c.

References point::a, ground_alt, previous_ground_alt, and waypoints.

Variable Documentation

◆ dist2_to_home

float dist2_to_home

squared distance to home waypoint

Definition at line 33 of file common_nav.c.

Referenced by compute_dist2_to_home().

◆ dist2_to_wp

float dist2_to_wp

squared distance to next waypoint

Definition at line 34 of file common_nav.c.

Referenced by NavGotoWaypoint(), and NavGotoWaypointHeading().

◆ ground_alt

◆ max_dist_from_home

float max_dist_from_home = MAX_DIST_FROM_HOME

Definition at line 46 of file common_nav.c.

Referenced by nav_move_waypoint(), and nav_move_waypoint_enu().

◆ nav_utm_east0

◆ nav_utm_north0

◆ nav_utm_zone0

◆ nb_waypoint

◆ previous_ground_alt

float previous_ground_alt
static

Definition at line 99 of file common_nav.c.

Referenced by nav_reset_alt(), nav_reset_reference(), and nav_update_waypoints_alt().

◆ too_far_from_home

bool too_far_from_home

Definition at line 36 of file common_nav.c.

Referenced by compute_dist2_to_home().

◆ waypoints

struct point waypoints[NB_WAYPOINT] = WAYPOINTS_UTM

size == nb_waypoint, waypoint 0 is a dummy waypoint

Definition at line 39 of file common_nav.c.

Referenced by cloud_sim_move(), collective_tracking_waypoint(), compute_dist2_to_home(), copilot_parse_move_wp_dl(), distance_to_wp(), distributed_circular(), DownlinkSendWp(), draw_osd(), follow_me_set_wp(), get_dist2_to_waypoint(), get_time_to_home(), get_two_intersects(), gvf_get_two_intersects(), gvf_nav_survey_polygon_setup(), gvf_parametric_2D_trefoil_wp(), gvf_parametric_3D_ellipse_wp(), gvf_parametric_3D_ellipse_wp_delta(), gvf_parametric_3D_lissajous_wp_center(), mission_point_of_lla(), nav_compute_baseleg(), nav_compute_final_from_glide(), nav_cube_run(), nav_cube_setup(), nav_eight(), nav_flower_run(), nav_glide(), nav_home(), nav_init(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_move_waypoint(), nav_move_waypoint_enu(), nav_oval(), nav_parse_MOVE_WP(), nav_send_waypoint(), nav_skid_landing_glide(), nav_skid_landing_run(), nav_skid_landing_setup(), nav_spiral_setup(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_poly_osam_setup(), nav_survey_poly_osam_setup_towards(), nav_survey_poly_run(), nav_survey_poly_setup(), nav_survey_poly_setup_towards(), nav_survey_polygon_setup(), nav_survey_rectangle(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), nav_survey_zamboni_setup(), nav_update_waypoints_alt(), nav_vertical_raster_run(), NavApproaching(), NavApproachingFrom(), NavCircleWaypoint(), NavGlide(), NavGotoWaypoint(), NavGotoWaypointHeading(), NavSegment(), Oval(), parachute_compute_approach(), put_lat_lon_home(), rotorcraft_cam_periodic(), send_wp_moved(), and vPoint().