#include "mav_exercise.h"
#include "modules/core/abi.h"
#include "firmwares/rotorcraft/navigation.h"
#include "state.h"
#include "autopilot_static.h"
#include <stdio.h>
#include "generated/flight_plan.h"

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Macros
#define	NAV_C

#define	PRINT(string, ...) fprintf(stderr, "[mav_exercise->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)

#define	ORANGE_AVOIDER_VISUAL_DETECTION_ID ABI_BROADCAST

Enumerations
enum	navigation_state_t { SAFE , OBSTACLE_FOUND , OUT_OF_BOUNDS , HOLD , SAFE , OBSTACLE_FOUND , SEARCH_FOR_SAFE_HEADING , OUT_OF_BOUNDS , SAFE , OBSTACLE_FOUND , SEARCH_FOR_SAFE_HEADING , OUT_OF_BOUNDS , REENTER_ARENA }

Functions
uint8_t	increase_nav_heading (float incrementDegrees)

uint8_t	moveWaypointForward (uint8_t waypoint, float distanceMeters)

uint8_t	moveWaypoint (uint8_t waypoint, struct EnuCoor_i *new_coor)

static void	color_detection_cb (uint8_t sender_id, int16_t pixel_x, int16_t pixel_y, int16_t pixel_width, int16_t pixel_height, int32_t quality, int16_t extra)

void	mav_exercise_init (void)

void	mav_exercise_periodic (void)

static uint8_t	calculateForwards (struct EnuCoor_i *new_coor, float distanceMeters)

Variables
float	oa_color_count_frac = 0.18f

enum navigation_state_t	navigation_state = SAFE

int32_t	color_count = 0

int16_t	obstacle_free_confidence = 0

float	moveDistance = 2

float	oob_haeding_increment = 5.f

const int16_t	max_trajectory_confidence = 5

static abi_event	color_detection_ev

Macro Definition Documentation

◆ NAV_C

#define NAV_C

Definition at line 28 of file mav_exercise.c.

◆ ORANGE_AVOIDER_VISUAL_DETECTION_ID

#define ORANGE_AVOIDER_VISUAL_DETECTION_ID ABI_BROADCAST

Definition at line 56 of file mav_exercise.c.

◆ PRINT

#define PRINT	(	string,
		...
	)	fprintf(stderr, "[mav_exercise->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)

Definition at line 31 of file mav_exercise.c.

Enumeration Type Documentation

◆ navigation_state_t

enum navigation_state_t

Enumerator
SAFE
OBSTACLE_FOUND
OUT_OF_BOUNDS
HOLD
SAFE
OBSTACLE_FOUND
SEARCH_FOR_SAFE_HEADING
OUT_OF_BOUNDS
SAFE
OBSTACLE_FOUND
SEARCH_FOR_SAFE_HEADING
OUT_OF_BOUNDS
REENTER_ARENA

Definition at line 37 of file mav_exercise.c.

Function Documentation

◆ calculateForwards()

static uint8_t calculateForwards	(	struct EnuCoor_i *	new_coor,
		float	distanceMeters
	)

static

Definition at line 151 of file mav_exercise.c.

References heading, POS_BFP_OF_REAL, FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetPositionEnu_i(), EnuCoor_i::x, and EnuCoor_i::y.

Referenced by moveWaypointForward().

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◆ color_detection_cb()

static void color_detection_cb	(	uint8_t	sender_id,
		int16_t	pixel_x,
		int16_t	pixel_y,
		int16_t	pixel_width,
		int16_t	pixel_height,
		int32_t	quality,
		int16_t	extra
	)