nav_spiral_3d module

Fixedwing navigation in a 3D spiral.

creating a helix:

• start center (X, Y)
• start and stop altitude
• start and stop radius
• 3D speed of the circle
  • in case alt diff is too small, vz is used as expension speed at constant altitude
  • in case of radius diff too small, doing a constant radius circle
    • if alt diff is too small, basic circle with horizontal speed (vz as no effect) setup will fail if:
• alt diff and vz are not coherent
• vz is too small and not doing circle

Example for airframe file

Add to your firmware section:

<module name="nav_spiral_3D"/>

Module configuration options

Airframe file section

• section name: NAV_SPIRAL_3D prefix: NAV_SPIRAL_3D_
  • name DIST_DIFF value: 10.
    Description: horizontal distance to start and stop pattern
  • name ALT_DIFF value: 10.
    Description: vertical distance to start and stop pattern
  • name MIN_CIRCLE_RADIUS value: 60.
    Description: minium circle radius in meters

Module functions

Init Functions

These initialization functions are called once on startup.

• nav_spiral_3D_init()

Files

Header Files

The following headers are automatically included in modules.h

• nav_spiral_3D.h

Source Files

• modules/nav/nav_spiral_3D.c

Raw nav_spiral_3D.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_spiral_3D" dir="nav">
  <doc>
    <description>
      Fixedwing navigation in a 3D spiral.
      creating a helix:
      - start center (X, Y)
      - start and stop altitude
      - start and stop radius
      - 3D speed of the circle
        - in case alt diff is too small, vz is used as expension speed at constant altitude
        - in case of radius diff too small, doing a constant radius circle
          - if alt diff is too small, basic circle with horizontal speed (vz as no effect)
      setup will fail if:
      - alt diff and vz are not coherent
      - vz is too small and not doing circle
    </description>
    <section name="NAV_SPIRAL_3D" prefix="NAV_SPIRAL_3D_">
      <define name="DIST_DIFF" value="10." description="horizontal distance to start and stop pattern"/>
      <define name="ALT_DIFF" value="10." description="vertical distance to start and stop pattern"/>
      <define name="MIN_CIRCLE_RADIUS" value="60." description="minium circle radius in meters"/>
    </section>
  </doc>
  <dep>
    <depends>@navigation</depends>
    <recommends>@mission</recommends>
  </dep>
  <header>
    <file name="nav_spiral_3D.h"/>
  </header>
  <init fun="nav_spiral_3D_init()"/>
  <makefile target="ap|sim|nps">
    <file name="nav_spiral_3D.c"/>
  </makefile>
</module>