nav_base.h

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/*
 * Copyright (C) 2022 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef NAV_BASE_H
#define NAV_BASE_H
 
#include "std.h"
#include "math/pprz_geodetic_float.h"
 
struct NavGoto_t {
  struct EnuCoor_f from;    
  struct EnuCoor_f to;      
  float dist2_to_wp;        
  float leg_progress;       
  float leg_length;         
};
 
struct NavCircle_t {
  struct EnuCoor_f center;  
  float radius;             
  float qdr;                
  float radians;            
};
 
enum oval_status { OR12, OC2, OR21, OC1 };
struct NavOval_t {
  enum oval_status status;  
  uint8_t count;            
};
 
struct NavBase_t {
  struct NavGoto_t goto_wp;
  struct NavCircle_t circle;
  struct NavOval_t oval;
};
 
static inline float nav_circle_get_count(struct NavCircle_t *circle)
{
  return fabsf(circle->radians) / (2.f*M_PI);
}
 
static inline float nav_circle_qdr(struct NavCircle_t *circle)
{
  float qdr = DegOfRad(M_PI_2 - circle->qdr);
  NormCourse(qdr);
  return qdr;
}
 
 
#endif