mission_rotorcraft_nav.c File Reference

mission navigation for rotorcrafts More...

#include <stdio.h>
#include "modules/mission/mission_common.h"
#include "autopilot.h"
#include "firmwares/rotorcraft/navigation.h"
#include "generated/flight_plan.h"

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Macros
#define	BUFFER_ZONE_DIST   10
#define	MISSION_WAIT_TIMEOUT   30
	Implement waiting pattern Only called when MISSION_WAIT_TIMEOUT is not 0. More...

Functions
bool	mission_point_of_lla (struct EnuCoor_f *point, struct LlaCoor_i *lla)
	Utility function: converts lla (int) to local point (float) More...
static bool	mission_nav_wp (struct _mission_element *el)
	Navigation function to a single waypoint. More...
static bool	mission_nav_circle (struct _mission_element *el)
	Navigation function on a circle. More...
static bool	mission_nav_segment (struct _mission_element *el)
	Navigation function along a segment. More...
static bool	mission_nav_path (struct _mission_element *el)
	Navigation function along a path. More...
static bool	mission_nav_custom (struct _mission_custom *custom, bool init)
	Call custom navigation function. More...
static bool	mission_wait_pattern (void)
int	mission_run ()
	Run mission. More...

Variables
static const float	dt_navigation = 1.0f / ((float)NAVIGATION_FREQUENCY)
struct EnuCoor_f	last_mission_wp = { 0.f, 0.f, 0.f }
static bool	mission_wait_started = false
static float	mission_wait_time = 0.f
static struct _mission_element	mission_wait_wp

Detailed Description

mission navigation for rotorcrafts

Implement specific navigation routines for the mission control of a rotorcraft

Definition in file mission_rotorcraft_nav.c.

Macro Definition Documentation

BUFFER_ZONE_DIST

#define BUFFER_ZONE_DIST   10

Definition at line 38 of file mission_rotorcraft_nav.c.

MISSION_WAIT_TIMEOUT

#define MISSION_WAIT_TIMEOUT   30

Implement waiting pattern Only called when MISSION_WAIT_TIMEOUT is not 0.

Definition at line 215 of file mission_rotorcraft_nav.c.

Function Documentation

mission_nav_circle()

static bool mission_nav_circle ( struct _mission_element *  el )

inlinestatic

Navigation function on a circle.

Definition at line 113 of file mission_rotorcraft_nav.c.

References _mission_element::duration, _mission_element::element, _mission::element_time, mission, nav, RotorcraftNavigation::nav_circle, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, and EnuCoor_f::z.

Referenced by mission_run().

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mission_nav_custom()

static bool mission_nav_custom ( struct _mission_custom *  custom, bool  init  )

inlinestatic

Call custom navigation function.

Definition at line 202 of file mission_rotorcraft_nav.c.

References _mission_registered::cb, init, MissionInit, MissionRun, _mission_custom::nb, _mission_custom::params, and _mission_custom::reg.

Referenced by mission_run().

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mission_nav_path()

static bool mission_nav_path ( struct _mission_element *  el )

inlinestatic

Navigation function along a path.

Definition at line 161 of file mission_rotorcraft_nav.c.

References CARROT, _mission_element::duration, _mission_element::element, last_mission_wp, mission_nav_wp(), nav, RotorcraftNavigation::nav_approaching, nav_check_wp_time(), RotorcraftNavigation::nav_route, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, stateGetPositionEnu_f(), and EnuCoor_f::z.

Referenced by mission_run().

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mission_nav_segment()

static bool mission_nav_segment ( struct _mission_element *  el )

inlinestatic

Navigation function along a segment.

Definition at line 132 of file mission_rotorcraft_nav.c.

References CARROT, _mission_element::duration, _mission_element::element, last_mission_wp, nav, RotorcraftNavigation::nav_approaching, nav_check_wp_time(), RotorcraftNavigation::nav_route, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, stateGetPositionEnu_f(), and EnuCoor_f::z.

Referenced by mission_run().

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mission_nav_wp()

static bool mission_nav_wp ( struct _mission_element *  el )

inlinestatic

Navigation function to a single waypoint.

Definition at line 86 of file mission_rotorcraft_nav.c.

References CARROT, _mission_element::duration, _mission_element::element, last_mission_wp, nav, RotorcraftNavigation::nav_approaching, nav_check_wp_time(), RotorcraftNavigation::nav_goto, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, stateGetPositionEnu_f(), and EnuCoor_f::z.

Referenced by mission_nav_path(), mission_run(), and mission_wait_pattern().

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mission_point_of_lla()

bool mission_point_of_lla	(	struct EnuCoor_f *	point,
		struct LlaCoor_i *	lla
	)

Utility function: converts lla (int) to local point (float)

Get the ENU component of LLA mission point This function is firmware specific.

TODO: don't convert to float, either use double or do completely in fixed point

Definition at line 41 of file mission_rotorcraft_nav.c.

References LlaCoor_f::alt, LlaCoor_i::alt, BUFFER_ZONE_DIST, UtmCoor_f::east, enu_of_lla_point_i(), float_vect2_norm(), LLA_FLOAT_OF_BFP, max_dist_from_home, nav_utm_east0, nav_utm_north0, nav_utm_zone0, State::ned_initialized_i, UtmCoor_f::north, state, stateGetHmslOrigin_i(), stateGetLlaOrigin_i(), stateGetNedOrigin_i(), utm_of_lla_f(), VECT2_DIFF, VECT2_SMUL, VECT2_SUM, VECT3_SMUL, waypoint_get_x(), waypoint_get_y(), waypoints, FloatVect2::x, point::x, FloatVect2::y, point::y, EnuCoor_f::z, and UtmCoor_f::zone.

Referenced by mission_parse_CIRCLE_LLA(), mission_parse_GOTO_WP_LLA(), mission_parse_PATH_LLA(), and mission_parse_SEGMENT_LLA().

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mission_run()

int mission_run

(

void

)

Run mission.

This function should be implemented into a dedicated file since navigation functions are different for different firmwares

Currently, this function should be called from the flight plan

Returns

return TRUE when the mission is running, FALSE when it is finished

Definition at line 238 of file mission_rotorcraft_nav.c.

References _mission::current_idx, dt_navigation, _mission_element::duration, _mission_element::element, _mission::element_time, mission, MISSION_ELEMENT_NB, mission_get(), mission_nav_circle(), mission_nav_custom(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), mission_wait_pattern(), mission_wait_started, MissionCircle, MissionCustom, MissionPath, MissionSegment, MissionWP, and _mission_element::type.

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mission_wait_pattern()

static bool mission_wait_pattern ( void  )

static

Definition at line 222 of file mission_rotorcraft_nav.c.

References dt_navigation, _mission_element::element, mission_nav_wp(), mission_wait_started, mission_wait_time, MISSION_WAIT_TIMEOUT, mission_wait_wp, and stateGetPositionEnu_f().

Referenced by mission_run().

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Variable Documentation

dt_navigation

const float dt_navigation = 1.0f / ((float)NAVIGATION_FREQUENCY)

static

Definition at line 79 of file mission_rotorcraft_nav.c.

Referenced by mission_run(), and mission_wait_pattern().

last_mission_wp

struct EnuCoor_f last_mission_wp = { 0.f, 0.f, 0.f }

Definition at line 79 of file mission_rotorcraft_nav.c.

Referenced by mission_nav_path(), mission_nav_segment(), and mission_nav_wp().

mission_wait_started

bool mission_wait_started = false

static

Definition at line 218 of file mission_rotorcraft_nav.c.

Referenced by mission_run(), and mission_wait_pattern().

mission_wait_time

float mission_wait_time = 0.f

static

Definition at line 220 of file mission_rotorcraft_nav.c.

Referenced by mission_wait_pattern().

mission_wait_wp

struct _mission_element mission_wait_wp

static

Definition at line 220 of file mission_rotorcraft_nav.c.

Referenced by mission_wait_pattern().