nav.h File Reference

Fixedwing Navigation library. More...

#include "std.h"
#include "paparazzi.h"
#include "state.h"
#include "modules/nav/nav_survey_rectangle.h"
#include "modules/nav/common_flight_plan.h"
#include "modules/nav/common_nav.h"
#include "autopilot.h"
#include "pprzlink/pprzlink_device.h"
#include "pprzlink/pprzlink_transport.h"

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Macros
#define	NAVIGATION_FREQUENCY   20
	Default fixedwing navigation frequency.
#define	NAV_GRAVITY   9.806
#define	Square(_x)   ((_x)*(_x))
#define	DistanceSquare(p1_x, p1_y, p2_x, p2_y)   (Square(p1_x-p2_x)+Square(p1_y-p2_y))
#define	PowerVoltage()   (electrical.vsupply)
#define	RcRoll(travel)   (radio_control_get(RADIO_ROLL) * (float)travel /(float)MAX_PPRZ)
#define	NAV_MODE_ROLL   1
#define	NAV_MODE_COURSE   2
#define	HORIZONTAL_MODE_WAYPOINT   0
#define	HORIZONTAL_MODE_ROUTE   1
#define	HORIZONTAL_MODE_CIRCLE   2
#define	NavGotoWaypoint(_wp)
#define	NavGotoPoint(_point)
#define	Eight(a, b, c)   nav_eight((a), (b), (c))
#define	Oval(a, b, c)   nav_oval((b), (a), (c))
#define	RCLost()   RadioControlIsLost()
#define	NavFollow(_ac_id, _distance, _height)   nav_follow(_ac_id, _distance, _height)
#define	NavGlide(_start_wp, _wp)   nav_glide(_start_wp, _wp)
#define	NavCircleWaypoint(wp, radius)    nav_circle_XY(waypoints[wp].x, waypoints[wp].y, radius)
#define	NavCircleCountNoRewind()   (nav_circle_radians_no_rewind / (2*M_PI))
#define	NavCircleCount()   (fabs(nav_circle_radians) / (2*M_PI))
#define	NavCircleQdr()   ({ float qdr = DegOfRad(M_PI_2 - nav_circle_trigo_qdr); NormCourse(qdr); qdr; })
#define	CloseDegAngles(_c1, _c2)   ({ float _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff || _diff < 10; })
#define	NavQdrCloseTo(x)   CloseDegAngles(x, NavCircleQdr())
	True if x (in degrees) is close to the current QDR (less than 10 degrees)
#define	NavCourseCloseTo(x)   CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))
#define	NavSegment(_start, _end)    nav_route_xy(waypoints[_start].x, waypoints[_start].y, waypoints[_end].x, waypoints[_end].y)
#define	NavApproaching(wp, time)   nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, last_x, last_y, time)
#define	NavApproachingFrom(wp, from, time)   nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, waypoints[from].x, waypoints[from].y, time)
#define	NavVerticalAutoThrottleMode(_pitch)
	Set the climb control to auto-throttle with the specified pitch pre-command.
#define	NavVerticalAutoPitchMode(_throttle)
	Set the climb control to auto-pitch with the specified throttle pre-command.
#define	NavVerticalAltitudeMode(_alt, _pre_climb)
	Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command.
#define	NavVerticalClimbMode(_climb)
	Set the vertical mode to climb control with the specified climb setpoint.
#define	NavVerticalThrottleMode(_throttle)
	Set the vertical mode to fixed throttle with the specified setpoint.
#define	NavHeading(_course)
#define	NavAttitude(_roll)
#define	NavSetMaxSpeed(_speed)   {}
#define	nav_IncreaseShift(x)   { if (x==0) nav_shift = 0; else nav_shift += x; }
#define	nav_SetNavRadius(x)   { if (x==1) nav_radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav_radius = -DEFAULT_CIRCLE_RADIUS; else nav_radius = x; }
#define	NavKillThrottle()   { autopilot_set_kill_throttle(true); }
#define	GetPosX()   (stateGetPositionEnu_f()->x)
	Get current x (east) position in local coordinates.
#define	GetPosY()   (stateGetPositionEnu_f()->y)
	Get current y (north) position in local coordinates.
#define	GetPosAlt()   (stateGetPositionUtm_f()->alt)
	Get current altitude above MSL.
#define	GetPosHeight()   (stateGetPositionEnu_f()->z)
	Get current height above reference.
#define	GetAltRef()   (ground_alt)
	Get current altitude reference for local coordinates.
#define	SEND_NAVIGATION(_trans, _dev)

Enumerations
enum	oval_status { OR12 , OC2 , OR21 , OC1 }

Functions
void	fly_to_xy (float x, float y)
	Computes desired_x, desired_y and desired_course.
void	nav_eight_init (void)
void	nav_eight (uint8_t, uint8_t, float)
	Navigation along a figure 8.
void	nav_oval_init (void)
void	nav_oval (uint8_t, uint8_t, float)
void	nav_periodic_task (void)
	Navigation main: call to the code generated from the XML flight plan.
void	nav_home (void)
	Home mode navigation (circle around HOME)
void	nav_init (void)
	Navigation Initialisation.
void	nav_without_gps (void)
	Failsafe navigation without position estimation.
void	nav_parse_BLOCK (struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
void	nav_parse_MOVE_WP (struct link_device *dev, struct transport_tx *trans, uint8_t *buf)
void	nav_circle_XY (float x, float y, float radius)
	Angle from center to mobile.
void	nav_compute_baseleg (uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius)
void	nav_compute_final_from_glide (uint8_t wp_af, uint8_t wp_td, float glide)
void	nav_follow (uint8_t _ac_id, float _distance, float _height)
void	nav_glide (uint8_t start_wp, uint8_t wp)
void	nav_glide_alt (float start_alt, float final_alt)
void	nav_route_xy (float last_wp_x, float last_wp_y, float wp_x, float wp_y)
	Computes the carrot position along the desired segment.
bool	nav_approaching_xy (float x, float y, float from_x, float from_y, float approaching_time)
	Decide if the UAV is approaching the current waypoint.
void	DownlinkSendWpNr (uint8_t _wp)

Variables
enum oval_status	oval_status
float	cur_pos_x
float	cur_pos_y
float	last_x
float	last_y
float	desired_x
float	desired_y
float	nav_altitude
float	flight_altitude
	Dynamically adjustable, reset to nav_altitude when it is changing.
float	nav_glide_pitch_trim
pprz_t	nav_throttle_setpoint
float	nav_pitch
float	rc_pitch
float	fp_pitch
float	fp_throttle
float	fp_climb
float	carrot_x
float	carrot_y
float	nav_circle_radians
	Status on the current circle.
float	nav_circle_radians_no_rewind
bool	nav_in_circle
bool	nav_in_segment
float	nav_circle_x
float	nav_circle_y
float	nav_circle_radius
float	nav_segment_x_1
float	nav_segment_y_1
float	nav_segment_x_2
float	nav_segment_y_2
int	nav_mode
uint8_t	horizontal_mode
uint8_t	nav_oval_count
	Navigation along a figure O.
float	nav_radius
float	nav_course
float	nav_climb
float	nav_shift
float	nav_ground_speed_pgain
float	nav_ground_speed_setpoint
float	nav_survey_shift
float	nav_survey_west
float	nav_survey_east
float	nav_survey_north
float	nav_survey_south
bool	nav_survey_active
float	nav_circle_trigo_qdr
float	baseleg_out_qdr

Detailed Description

Fixedwing Navigation library.

This collection of macros and functions is used by the C code generated from the XML flight plan.

Definition in file nav.h.

Macro Definition Documentation

CloseDegAngles

#define CloseDegAngles	(		_c1,
			_c2
	)		({ float _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff || _diff < 10; })

Definition at line 158 of file nav.h.

DistanceSquare

#define DistanceSquare	(		p1_x,
			p1_y,
			p2_x,
			p2_y
	)		(Square(p1_x-p2_x)+Square(p1_y-p2_y))

Definition at line 54 of file nav.h.

Eight

#define Eight	(		a,
			b,
			c
	)		nav_eight((a), (b), (c))

Definition at line 109 of file nav.h.

GetAltRef

#define GetAltRef

(

)

(ground_alt)

Get current altitude reference for local coordinates.

This is the ground_alt from the flight plan at first, but might be updated later through a call to NavSetGroundReferenceHere() or NavSetAltitudeReferenceHere(), e.g. in the GeoInit flight plan block.

Definition at line 242 of file nav.h.

GetPosAlt

#define GetPosAlt

(

)

(stateGetPositionUtm_f()->alt)

Get current altitude above MSL.

Definition at line 233 of file nav.h.

GetPosHeight

#define GetPosHeight

(

)

(stateGetPositionEnu_f()->z)

Get current height above reference.

Definition at line 235 of file nav.h.

GetPosX

#define GetPosX

(

)

(stateGetPositionEnu_f()->x)

Get current x (east) position in local coordinates.

Definition at line 229 of file nav.h.

GetPosY

#define GetPosY

(

)

(stateGetPositionEnu_f()->y)

Get current y (north) position in local coordinates.

Definition at line 231 of file nav.h.

HORIZONTAL_MODE_CIRCLE

#define HORIZONTAL_MODE_CIRCLE   2

Definition at line 92 of file nav.h.

HORIZONTAL_MODE_ROUTE

#define HORIZONTAL_MODE_ROUTE   1

Definition at line 91 of file nav.h.

HORIZONTAL_MODE_WAYPOINT

#define HORIZONTAL_MODE_WAYPOINT   0

Definition at line 90 of file nav.h.

NAV_GRAVITY

#define NAV_GRAVITY   9.806

Definition at line 52 of file nav.h.

nav_IncreaseShift

#define nav_IncreaseShift

(

x

)

{ if (x==0) nav_shift = 0; else nav_shift += x; }

Definition at line 222 of file nav.h.

NAV_MODE_COURSE

#define NAV_MODE_COURSE   2

Definition at line 86 of file nav.h.

NAV_MODE_ROLL

#define NAV_MODE_ROLL   1

Definition at line 85 of file nav.h.

nav_SetNavRadius

#define nav_SetNavRadius

(

x

)

{ if (x==1) nav_radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav_radius = -DEFAULT_CIRCLE_RADIUS; else nav_radius = x; }

Definition at line 224 of file nav.h.

NavApproaching

#define NavApproaching	(		wp,
			time
	)		nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, last_x, last_y, time)

Definition at line 171 of file nav.h.

NavApproachingFrom

#define NavApproachingFrom	(		wp,
			from,
			time
	)		nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, waypoints[from].x, waypoints[from].y, time)

Definition at line 172 of file nav.h.

NavAttitude

#define NavAttitude

(

_roll

)

Value:

    { \
    lateral_mode = LATERAL_MODE_ROLL; \
    if(autopilot_get_mode() != AP_MODE_AUTO1)  \
    {h_ctl_roll_setpoint = _roll;} \
  }

Definition at line 214 of file nav.h.

NavCircleCount

#define NavCircleCount

(

)

(fabs(nav_circle_radians) / (2*M_PI))

Definition at line 155 of file nav.h.

NavCircleCountNoRewind

#define NavCircleCountNoRewind

(

)

(nav_circle_radians_no_rewind / (2*M_PI))

Definition at line 154 of file nav.h.

NavCircleQdr

#define NavCircleQdr

(

)

({ float qdr = DegOfRad(M_PI_2 - nav_circle_trigo_qdr); NormCourse(qdr); qdr; })

Definition at line 156 of file nav.h.

NavCircleWaypoint

#define NavCircleWaypoint	(		wp,
			radius
	)		nav_circle_XY(waypoints[wp].x, waypoints[wp].y, radius)

Definition at line 151 of file nav.h.

NavCourseCloseTo

#define NavCourseCloseTo

(

x

)

CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))

Definition at line 163 of file nav.h.

NavFollow

#define NavFollow	(		_ac_id,
			_distance,
			_height
	)		nav_follow(_ac_id, _distance, _height)

Definition at line 145 of file nav.h.

NavGlide

#define NavGlide	(		_start_wp,
			_wp
	)		nav_glide(_start_wp, _wp)

Definition at line 149 of file nav.h.

NavGotoPoint

#define NavGotoPoint

(

_point

)

Value:

    { \
    horizontal_mode = HORIZONTAL_MODE_WAYPOINT; \
    fly_to_xy(_point.x, _point.y); \
  }

Definition at line 101 of file nav.h.

NavGotoWaypoint

#define NavGotoWaypoint

(

_wp

)

Value:

    { \
    horizontal_mode = HORIZONTAL_MODE_WAYPOINT; \
    fly_to_xy(waypoints[_wp].x, waypoints[_wp].y); \
  }

Definition at line 96 of file nav.h.

NavHeading

#define NavHeading

(

_course

)

Value:

    { \
    lateral_mode = LATERAL_MODE_COURSE; \
    h_ctl_course_setpoint = _course; \
  }

Definition at line 209 of file nav.h.

NAVIGATION_FREQUENCY

#define NAVIGATION_FREQUENCY   20

Default fixedwing navigation frequency.

Definition at line 49 of file nav.h.

NavKillThrottle

#define NavKillThrottle

(

void

)

{ autopilot_set_kill_throttle(true); }

Definition at line 226 of file nav.h.

NavQdrCloseTo

#define NavQdrCloseTo

(

x

)

CloseDegAngles(x, NavCircleQdr())

True if x (in degrees) is close to the current QDR (less than 10 degrees)

Definition at line 161 of file nav.h.

NavSegment

#define NavSegment	(		_start,
			_end
	)		nav_route_xy(waypoints[_start].x, waypoints[_start].y, waypoints[_end].x, waypoints[_end].y)

Definition at line 167 of file nav.h.

NavSetMaxSpeed

#define NavSetMaxSpeed

(

_speed

)

{}

Definition at line 220 of file nav.h.

NavVerticalAltitudeMode

#define NavVerticalAltitudeMode	(		_alt,
			_pre_climb
	)

Value:

    { \
    v_ctl_mode = V_CTL_MODE_AUTO_ALT; \
    nav_altitude = _alt; \
    v_ctl_altitude_pre_climb = _pre_climb; \
  }

Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command.

Definition at line 191 of file nav.h.

NavVerticalAutoPitchMode

#define NavVerticalAutoPitchMode

(

_throttle

)

Value:

    { \
    v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_PITCH; \
    nav_throttle_setpoint = _throttle; \
  }

Set the climb control to auto-pitch with the specified throttle pre-command.

Definition at line 184 of file nav.h.

NavVerticalAutoThrottleMode

#define NavVerticalAutoThrottleMode

(

_pitch

)

Value:

    { \
    v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE; \
    nav_pitch = _pitch; \
  }

Set the climb control to auto-throttle with the specified pitch pre-command.

Definition at line 177 of file nav.h.

NavVerticalClimbMode

#define NavVerticalClimbMode

(

_climb

)

Value:

    { \
    v_ctl_mode = V_CTL_MODE_AUTO_CLIMB; \
    v_ctl_climb_setpoint = _climb; \
  }

Set the vertical mode to climb control with the specified climb setpoint.

Definition at line 198 of file nav.h.

NavVerticalThrottleMode

#define NavVerticalThrottleMode

(

_throttle

)

Value:

    { \
    v_ctl_mode = V_CTL_MODE_AUTO_THROTTLE; \
    nav_throttle_setpoint = _throttle; \
  }

Set the vertical mode to fixed throttle with the specified setpoint.

Definition at line 204 of file nav.h.

Oval

#define Oval	(		a,
			b,
			c
	)		nav_oval((b), (a), (c))

Definition at line 114 of file nav.h.

PowerVoltage

#define PowerVoltage

(

)

(electrical.vsupply)

Definition at line 56 of file nav.h.

RCLost

#define RCLost

(

)

RadioControlIsLost()

Definition at line 142 of file nav.h.

RcRoll

#define RcRoll

(

travel

)

(radio_control_get(RADIO_ROLL) * (float)travel /(float)MAX_PPRZ)

Definition at line 57 of file nav.h.

SEND_NAVIGATION

#define SEND_NAVIGATION	(		_trans,
			_dev
	)

Value:

    { \
    uint8_t _circle_count = NavCircleCount(); \
    struct EnuCoor_f* pos = stateGetPositionEnu_f(); \
    float dist_wp = sqrtf(dist2_to_wp); \
    float dist_home = sqrtf(dist2_to_home); \
    uint8_t kill = (uint8_t)autopilot.kill_throttle; \
    pprz_msg_send_NAVIGATION(_trans, _dev, AC_ID, &nav_block, &nav_stage, &(pos->x), &(pos->y), &dist_wp, &dist_home, &autopilot.flight_time, &block_time, &stage_time, &kill, &_circle_count, &nav_oval_count); \
  }

Definition at line 245 of file nav.h.

Square

#define Square

(

_x

)

((_x)*(_x))

Definition at line 53 of file nav.h.

Enumeration Type Documentation

oval_status

enum oval_status

Enumerator
OR12
OC2
OR21
OC1

Definition at line 60 of file nav.h.

Function Documentation

DownlinkSendWpNr()

void DownlinkSendWpNr ( uint8_t  _wp )

extern

Definition at line 497 of file nav.c.

References DefaultChannel, DefaultDevice, DownlinkSendWp(), foo, and nb_waypoint.

Referenced by nav_catapult_run().

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fly_to_xy()

void fly_to_xy ( float  x, float  y  )

extern

Computes desired_x, desired_y and desired_course.

Definition at line 356 of file nav.c.

References CARROT, desired_x, desired_y, foo, h_ctl_course_pgain, h_ctl_course_setpoint, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_COURSE, LATERAL_MODE_ROLL, nav_mode, NAV_MODE_COURSE, s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by formation_flight(), mission_nav_wp(), nav_circle_XY(), nav_route_xy(), and potential_task().

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nav_approaching_xy()

bool nav_approaching_xy	(	float	x,
		float	y,
		float	from_x,
		float	from_y,
		float	approaching_time
	)

Decide if the UAV is approaching the current waypoint.

Computes dist2_to_wp and compare it to square carrot. Return true if it is smaller. Else computes by scalar products if uav has not gone past waypoint. approaching_time can be negative and in this case, the UAV will fly after the waypoint for the given number of seconds.

Returns

true if the position (x, y) is reached

distance to waypoint in x

distance to waypoint in y

Definition at line 325 of file nav.c.

References dist2_to_wp, foo, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_nav_survey_polygon_run(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_catapult_run(), nav_eight(), nav_land_run(), nav_line_osam_run(), nav_oval(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), nav_takeoff_run(), and snav_route().

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nav_circle_XY()

void nav_circle_XY ( float  x, float  y, float  radius  )

extern

Angle from center to mobile.

Angle from center to mobile.

Clockwise iff radius > 0

Computes a prebank. Go straight if inside or outside the circle

Definition at line 108 of file nav.c.

References CARROT, circle_bank, DistanceSquare, fly_to_xy(), foo, horizontal_mode, HORIZONTAL_MODE_CIRCLE, Min, nav_circle_radians, nav_circle_radians_no_rewind, nav_circle_radius, nav_circle_trigo_qdr, nav_circle_x, nav_circle_y, NAV_GRAVITY, nav_in_circle, nav_in_segment, nav_mode, NAV_MODE_COURSE, nav_shift, Square, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_circle(), nav_eight(), nav_flower_run(), nav_lace_run(), nav_launcher_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_oval(), nav_rosette_run(), nav_skid_landing_run(), nav_spiral_3D_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), nav_trinity_run(), nav_vertical_raster_run(), snav_circle1(), snav_circle2(), and snav_on_time().

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nav_compute_baseleg()

void nav_compute_baseleg ( uint8_t  wp_af, uint8_t  wp_td, uint8_t  wp_baseleg, float  radius  )

extern

Definition at line 220 of file nav.c.

References point::a, baseleg_out_qdr, foo, nav_radius, waypoints, point::x, and point::y.

nav_compute_final_from_glide()

void nav_compute_final_from_glide ( uint8_t  wp_af, uint8_t  wp_td, float  glide  )

extern

Definition at line 241 of file nav.c.

References point::a, foo, waypoints, point::x, and point::y.

nav_eight()

void nav_eight ( uint8_t  target, uint8_t  c1, float  radius  )

extern

Navigation along a figure 8.

The cross center is defined by the waypoint [target], the center of one of the circles is defined by [c1]. Altitude is given by [target]. The navigation goes through 6 states: C1 (circle around [c1]), R1T, RT2 (route from circle 1 to circle 2 over [target]), C2 and R2T, RT1. If necessary, the [c1] waypoint is moved in the direction of [target] to be not far than [2*radius].

Definition at line 633 of file nav.c.

References point::a, UtmCoor_f::alt, C1, c1, C2, c2, CARROT, foo, InitStage, nav_approaching_xy(), nav_circle_XY(), nav_route_xy(), NavCircleWaypoint, NavQdrCloseTo, R1T, R2T, RT1, RT2, target, waypoints, point::x, and point::y.

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nav_eight_init()

void nav_eight_init ( void  )

extern

Definition at line 620 of file nav.c.

References C1.

nav_follow()

void nav_follow ( uint8_t  _ac_id, float  _distance, float  _height  )

extern

Definition at line 302 of file nav.c.

nav_glide()

void nav_glide ( uint8_t  start_wp, uint8_t  wp  )

extern

Definition at line 158 of file nav.c.

References foo, nav_glide_alt(), and waypoints.

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nav_glide_alt()

void nav_glide_alt ( float  start_alt, float  final_alt  )

extern

Definition at line 163 of file nav.c.

References foo, nav_leg_length, nav_leg_progress, NavVerticalAltitudeMode, and stateGetHorizontalSpeedNorm_f().

Referenced by nav_glide(), and nav_land_run().

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nav_home()

void nav_home ( void  )

extern

Home mode navigation (circle around HOME)

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 424 of file nav.c.

nav_init()

void nav_init ( void  )

extern

Navigation Initialisation.

Definition at line 532 of file nav.c.

nav_oval()

void nav_oval ( uint8_t  p1, uint8_t  p2, float  radius  )

extern

Definition at line 762 of file nav.c.

References point::a, CARROT, foo, InitStage, LINE_START_FUNCTION, LINE_STOP_FUNCTION, nav_approaching_xy(), nav_circle_XY(), nav_oval_count, nav_route_xy(), NavQdrCloseTo, OC1, OC2, OR12, OR21, waypoints, point::x, and point::y.

Referenced by nav_register_oval(), and nav_register_oval().

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nav_oval_init()

void nav_oval_init ( void  )

extern

Definition at line 756 of file nav.c.

References nav_oval_count, and OC2.

Referenced by nav_register_oval().

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nav_parse_BLOCK()

void nav_parse_BLOCK ( struct link_device *  dev, struct transport_tx *  trans, uint8_t *  buf  )

extern

Definition at line 585 of file nav.c.

References dev, foo, nav_goto_block(), and SEND_NAVIGATION.

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nav_parse_MOVE_WP()

void nav_parse_MOVE_WP ( struct link_device *  dev, struct transport_tx *  trans, uint8_t *  buf  )

extern

Definition at line 592 of file nav.c.

References LlaCoor_f::alt, dev, foo, LlaCoor_f::lat, LlaCoor_f::lon, nav_move_waypoint(), nav_utm_east0, nav_utm_north0, nav_utm_zone0, utm_of_lla_f(), waypoints, point::x, point::y, and UtmCoor_f::zone.

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nav_periodic_task()

void nav_periodic_task ( void  )

extern

Navigation main: call to the code generated from the XML flight plan.

Definition at line 445 of file nav.c.

nav_route_xy()

void nav_route_xy ( float  last_wp_x, float  last_wp_y, float  wp_x, float  wp_y  )

extern

Computes the carrot position along the desired segment.

distance of carrot (in meter)

Definition at line 382 of file nav.c.

References CARROT, fly_to_xy(), foo, horizontal_mode, HORIZONTAL_MODE_ROUTE, nav_carrot_leg_progress, nav_in_circle, nav_in_segment, nav_leg_length, nav_leg_progress, nav_segment_x_1, nav_segment_x_2, nav_segment_y_1, nav_segment_y_2, nav_shift, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_path(), mission_nav_segment(), nav_bungee_takeoff_run(), nav_eight(), nav_flower_run(), nav_lace_run(), nav_land_run(), nav_launcher_run(), nav_line_osam_run(), nav_oval(), nav_points(), nav_rosette_run(), nav_skid_landing_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_rectangle(), nav_survey_zamboni_run(), nav_trinity_run(), and snav_route().

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nav_without_gps()

void nav_without_gps ( void  )

extern

Failsafe navigation without position estimation.

Just set attitude and throttle to FAILSAFE values to prevent the plane from crashing.

Definition at line 569 of file nav.c.

References foo, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_ROLL, MAX_PPRZ, nav_pitch, nav_throttle_setpoint, TRIM_UPPRZ, v_ctl_mode, and V_CTL_MODE_AUTO_THROTTLE.

Referenced by navigation_task().

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Variable Documentation

baseleg_out_qdr

float baseleg_out_qdr

extern

Definition at line 219 of file nav.c.

Referenced by nav_compute_baseleg(), and nav_land_run().

carrot_x

float carrot_x

extern

Definition at line 50 of file nav.c.

carrot_y

float carrot_y

Definition at line 75 of file nav.h.

cur_pos_x

float cur_pos_x

extern

cur_pos_y

float cur_pos_y

extern

desired_x

float desired_x

extern

Definition at line 308 of file nav.c.

Referenced by cam_segment_periodic(), fly_to_xy(), formation_flight(), gvf_parametric_control_2D(), potential_task(), and send_desired().

desired_y

float desired_y

Definition at line 66 of file nav.h.

flight_altitude

float flight_altitude

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 66 of file nav.h.

fp_climb

float fp_climb

extern

Definition at line 313 of file nav.c.

Referenced by nav_init().

fp_pitch

float fp_pitch

extern

Definition at line 311 of file nav.c.

Referenced by nav_init().

fp_throttle

float fp_throttle

extern

Definition at line 312 of file nav.c.

Referenced by nav_init().

horizontal_mode

uint8_t horizontal_mode

extern

Definition at line 70 of file nav.c.

Referenced by nav_circle_XY(), nav_route_xy(), and send_mode().

last_x

float last_x

extern

Definition at line 47 of file nav.c.

Referenced by gvf_nav_survey_polygon_run(), nav_init_stage(), and nav_survey_polygon_run().

last_y

float last_y

Definition at line 64 of file nav.h.

nav_altitude

float nav_altitude

Definition at line 66 of file nav.h.

nav_circle_radians

float nav_circle_radians

extern

Status on the current circle.

Definition at line 53 of file nav.c.

Referenced by nav_circle_XY(), and nav_init_stage().

nav_circle_radians_no_rewind

float nav_circle_radians_no_rewind

extern

Definition at line 54 of file nav.c.

Referenced by nav_circle_XY(), and nav_init_stage().

nav_circle_radius

float nav_circle_radius

Definition at line 81 of file nav.h.

nav_circle_trigo_qdr

float nav_circle_trigo_qdr

extern

Definition at line 55 of file nav.c.

Referenced by nav_circle_XY(), and nav_land_run().

nav_circle_x

float nav_circle_x

extern

Definition at line 68 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_circle_XY(), and send_circle().

nav_circle_y

float nav_circle_y

Definition at line 81 of file nav.h.

nav_climb

float nav_climb

extern

Definition at line 56 of file nav.c.

nav_course

float nav_course

extern

Definition at line 56 of file nav.c.

nav_glide_pitch_trim

float nav_glide_pitch_trim

Definition at line 66 of file nav.h.

nav_ground_speed_pgain

float nav_ground_speed_pgain

extern

Definition at line 83 of file nav.c.

Referenced by nav_init().

nav_ground_speed_setpoint

float nav_ground_speed_setpoint

Definition at line 121 of file nav.h.

nav_in_circle

bool nav_in_circle

extern

Definition at line 66 of file nav.c.

Referenced by calculate_wind_no_airspeed(), nav_circle_XY(), nav_init_stage(), nav_periodic_task(), nav_route_xy(), nav_survey_rectangle(), nav_survey_rectangle_rotorcraft_run(), and send_circle().

nav_in_segment

bool nav_in_segment

extern

Definition at line 67 of file nav.c.

Referenced by nav_circle_XY(), nav_init_stage(), nav_route_xy(), nav_survey_rectangle(), nav_survey_rectangle_rotorcraft_run(), and send_segment().

nav_mode

int nav_mode

extern

Definition at line 90 of file nav.c.

Referenced by fly_to_xy(), nav_circle_XY(), and nav_init().

nav_oval_count

uint8_t nav_oval_count

extern

Navigation along a figure O.

One side leg is defined by waypoints [p1] and [p2]. The navigation goes through 4 states: OC1 (half circle next to [p1]), OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 (opposite leg).

Initial state is the route along the desired segment (OC2).

Definition at line 754 of file nav.c.

Referenced by nav_oval(), nav_oval(), and nav_oval_init().

nav_pitch

float nav_pitch

extern

Definition at line 310 of file nav.c.

Referenced by attitude_loop(), nav_home(), nav_without_gps(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_guidance_loop(), v_ctl_landing_loop(), and v_ctl_set_pitch().

nav_radius

float nav_radius

extern

Definition at line 56 of file nav.c.

Referenced by nav_compute_baseleg(), nav_flower_run(), nav_init(), and parachute_compute_approach().

nav_segment_x_1

float nav_segment_x_1

extern

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic(), nav_route_xy(), and send_segment().

nav_segment_x_2

float nav_segment_x_2

Definition at line 82 of file nav.h.

nav_segment_y_1

float nav_segment_y_1

Definition at line 82 of file nav.h.

nav_segment_y_2

float nav_segment_y_2

Definition at line 82 of file nav.h.

nav_shift

float nav_shift

extern

Definition at line 56 of file nav.c.

Referenced by nav_circle_XY(), nav_init_stage(), and nav_route_xy().

nav_survey_active

bool nav_survey_active

extern

Definition at line 88 of file nav.c.

Referenced by nav_periodic_task(), nav_survey_rectangle(), and send_survey().

nav_survey_east

float nav_survey_east

Definition at line 125 of file nav.h.

nav_survey_north

float nav_survey_north

Definition at line 125 of file nav.h.

nav_survey_shift

float nav_survey_shift

extern

Definition at line 86 of file nav.c.

Referenced by nav_init(), nav_survey_disc_run(), nav_survey_disc_setup(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

nav_survey_south

float nav_survey_south

Definition at line 125 of file nav.h.

nav_survey_west

float nav_survey_west

extern

Definition at line 87 of file nav.c.

Referenced by nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), send_survey(), and send_survey().

nav_throttle_setpoint

pprz_t nav_throttle_setpoint

extern

Definition at line 309 of file nav.c.

Referenced by attitude_loop(), nav_without_gps(), and v_ctl_guidance_loop().

oval_status

enum oval_status oval_status

extern

Definition at line 45 of file nav.c.

rc_pitch

float rc_pitch

extern

Definition at line 49 of file nav.c.