nav_rotorcraft module

Standard navigation API for rotorcraft

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="nav_rotorcraft"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• nav_init()

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message BLOCK call nav_parse_BLOCK(buf)
• on message MOVE_WP call nav_parse_MOVE_WP(buf)

Files

Header Files

The following headers are automatically included in modules.h

• navigation.h

Source Files

• /navigation.c
• modules/nav/common_flight_plan.c
• modules/nav/waypoints.c

Raw nav_rotorcraft.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_rotorcraft" dir="nav" task="control">
  <doc>
    <description>
      Standard navigation API for rotorcraft
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="NAV">
        <dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/>
        <dl_setting var="nav.heading" MIN="0" STEP="0.1" MAX="360" unit="rad" alt_unit="deg"/>
        <dl_setting var="nav.radius" MIN="-50" STEP="0.1" MAX="50" unit="m"/>
        <dl_setting var="nav.climb_vspeed" MIN="0" STEP="0.1" MAX="10.0" unit="m/s" param="NAV_CLIMB_VSPEED"/>
        <dl_setting var="nav.descend_vspeed" MIN="-10.0" STEP="0.1" MAX="0.0" unit="m/s" param="NAV_DESCEND_VSPEED"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <provides>navigation</provides>
  </dep>
  <header>
    <file name="navigation.h" dir="firmwares/rotorcraft"/>
  </header>
  <init fun="nav_init()"/>
  <datalink message="BLOCK" fun="nav_parse_BLOCK(buf)"/>
  <datalink message="MOVE_WP" fun="nav_parse_MOVE_WP(buf)"/>
  <makefile target="ap|nps" firmware="rotorcraft">
    <file name="navigation.c" dir="$(SRC_FIRMWARE)"/>
    <file name="common_flight_plan.c"/>
    <file name="waypoints.c"/>
    <define name="USE_NAVIGATION"/>
    <test firmware="rotorcraft">
      <configure name="SRC_FIRMWARE" value="firmwares/rotorcraft"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>