nav_lace.c File Reference

#include "modules/nav/nav_lace.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
#include "modules/core/abi.h"

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Data Structures
struct	NavLace

Macros
#define	NAV_LACE_RECOVER_MAX_TURN   1.5f
#define	NAV_LACE_BORDER_FILTER   20.f
#define	NAV_LACE_LWC_ID   ABI_BROADCAST

Enumerations
enum	LaceStatus {   LACE_ENTER , LACE_INSIDE_START , LACE_INSIDE , LACE_OUTSIDE_START ,   LACE_OUTSIDE , LACE_RECOVER_START , LACE_RECOVER_INSIDE , LACE_RECOVER_OUTSIDE }
enum	RotationDir { LACE_LEFT , LACE_RIGHT }

Functions
static float	change_rep (float dir)
static struct EnuCoor_f	process_new_point_lace (struct EnuCoor_f *position, float alt_sp, float uav_direction)
static void	update_target_point (struct EnuCoor_f *target, struct EnuCoor_f *border, float dt, float tau)
static void	lwc_cb (uint8_t sender_id UNUSED, uint32_t stamp UNUSED, int32_t data_type, uint32_t size, uint8_t *data)
void	nav_lace_init (void)
	Init function called by modules init.
void	nav_lace_setup (float init_x, float init_y, float init_z, int turn, float desired_radius, float vx, float vy, float vz)
	Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters.
bool	nav_lace_run (void)
	Navigation function Called by flight plan or mission run function.

Variables
static struct NavLace	nav_lace
static const float	nav_dt = 1.f / NAVIGATION_FREQUENCY
static abi_event	lwc_ev

Detailed Description

Author

VERDU Titouan

Adaptive border pattern for cloud exploration

Definition in file nav_lace.c.

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Data Structure Documentation

NavLace

struct NavLace

Definition at line 61 of file nav_lace.c.

Collaboration diagram for NavLace:

Data Fields
struct EnuCoor_f	actual
struct EnuCoor_f	circle
float	direction
struct EnuCoor_f	estim_border
bool	inside_cloud
float	last_border_time
float	max_recover_radius
struct FloatVect3	pos_incr
float	radius
float	radius_sign
struct EnuCoor_f	recover_circle
float	recover_radius
enum RotationDir	rotation
enum LaceStatus	status
struct EnuCoor_f	target

Macro Definition Documentation

NAV_LACE_BORDER_FILTER

#define NAV_LACE_BORDER_FILTER   20.f

Definition at line 42 of file nav_lace.c.

NAV_LACE_LWC_ID

#define NAV_LACE_LWC_ID   ABI_BROADCAST

Definition at line 170 of file nav_lace.c.

NAV_LACE_RECOVER_MAX_TURN

#define NAV_LACE_RECOVER_MAX_TURN   1.5f

Definition at line 38 of file nav_lace.c.

Enumeration Type Documentation

LaceStatus

enum LaceStatus

Enumerator
LACE_ENTER
LACE_INSIDE_START
LACE_INSIDE
LACE_OUTSIDE_START
LACE_OUTSIDE
LACE_RECOVER_START
LACE_RECOVER_INSIDE
LACE_RECOVER_OUTSIDE

Definition at line 45 of file nav_lace.c.

RotationDir

enum RotationDir

Enumerator
LACE_LEFT
LACE_RIGHT

Definition at line 56 of file nav_lace.c.

Function Documentation

change_rep()

static float change_rep ( float  dir )

static

Definition at line 83 of file nav_lace.c.

References dir, and foo.

Referenced by nav_lace_run().

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lwc_cb()

static void lwc_cb ( uint8_t sender_id  UNUSED, uint32_t stamp  UNUSED, int32_t  data_type, uint32_t  size, uint8_t *  data  )

static

Definition at line 175 of file nav_lace.c.

References foo, NavLace::inside_cloud, and nav_lace.

Referenced by nav_lace_init().

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nav_lace_init()

void nav_lace_init

(

void

)

Init function called by modules init.

Definition at line 181 of file nav_lace.c.

References DEFAULT_CIRCLE_RADIUS, foo, NavLace::inside_cloud, LACE_ENTER, NavLace::last_border_time, lwc_cb(), lwc_ev, NavLace::max_recover_radius, mission_register(), nav_lace, NAV_LACE_LWC_ID, NavLace::radius, NavLace::recover_radius, and NavLace::status.

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nav_lace_run()

bool nav_lace_run

(

void

)

Navigation function Called by flight plan or mission run function.

Returns

true until pattern ends or fail

Definition at line 222 of file nav_lace.c.

References NavLace::actual, change_rep(), NavLace::circle, NavLace::direction, NavLace::estim_border, foo, get_sys_time_float(), ground_alt, NavLace::inside_cloud, LACE_ENTER, LACE_INSIDE, LACE_INSIDE_START, LACE_OUTSIDE, LACE_OUTSIDE_START, LACE_RECOVER_INSIDE, LACE_RECOVER_OUTSIDE, LACE_RECOVER_START, NavLace::last_border_time, NavLace::max_recover_radius, nav_circle_XY(), nav_dt, nav_init_stage(), nav_lace, NAV_LACE_BORDER_FILTER, NAV_LACE_RECOVER_MAX_TURN, nav_move_waypoint_enu(), nav_route_xy(), nav_send_waypoint(), NavCircleCountNoRewind, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NavLace::pos_incr, process_new_point_lace(), NavLace::radius, NavLace::radius_sign, NavLace::recover_circle, NavLace::recover_radius, stateGetHorizontalSpeedDir_f(), stateGetPositionEnu_f(), NavLace::status, NavLace::target, time, update_target_point(), VECT3_ADD, EnuCoor_f::x, EnuCoor_f::y, FloatVect3::z, and EnuCoor_f::z.

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nav_lace_setup()

void nav_lace_setup	(	float	init_x,
		float	init_y,
		float	init_z,
		int	turn,
		float	desired_radius,
		float	vx,
		float	vy,
		float	vz
	)

Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters.

Definition at line 197 of file nav_lace.c.

References NavLace::actual, foo, NavLace::inside_cloud, LACE_ENTER, LACE_LEFT, LACE_RIGHT, nav_dt, nav_lace, NavLace::pos_incr, NavLace::radius, NavLace::radius_sign, NavLace::rotation, stateGetPositionEnu_f(), NavLace::status, NavLace::target, and VECT3_ASSIGN.

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process_new_point_lace()

static struct EnuCoor_f process_new_point_lace ( struct EnuCoor_f *  position, float  alt_sp, float  uav_direction  )

static

Definition at line 88 of file nav_lace.c.

References foo, LACE_LEFT, LACE_RIGHT, nav_lace, NavLace::radius, NavLace::rotation, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by nav_lace_run().

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update_target_point()

static void update_target_point ( struct EnuCoor_f *  target, struct EnuCoor_f *  border, float  dt, float  tau  )

static

Definition at line 108 of file nav_lace.c.

References alpha, foo, and target.

Referenced by nav_lace_run().

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Variable Documentation

lwc_ev

abi_event lwc_ev

static

Definition at line 173 of file nav_lace.c.

Referenced by nav_lace_init().

nav_dt

const float nav_dt = 1.f / NAVIGATION_FREQUENCY

static

Definition at line 81 of file nav_lace.c.

Referenced by nav_lace_run(), and nav_lace_setup().

nav_lace

struct NavLace nav_lace

static

Definition at line 79 of file nav_lace.c.

Referenced by lwc_cb(), nav_lace_init(), nav_lace_run(), nav_lace_setup(), and process_new_point_lace().