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Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Turn around 2 points, with possible margins Can be used in mission mode. More...
#include "modules/nav/nav_poles_rotorcraft.h"
#include "firmwares/rotorcraft/navigation.h"
#include "modules/nav/nav_rotorcraft_base.h"
#include "modules/nav/waypoints.h"
Go to the source code of this file.
Functions | |
void | nav_poles_init (void) |
Global init. | |
static bool | compute_oval_points (struct EnuCoor_f *enu1, struct EnuCoor_f *enu2, float height, float radius, float margin) |
bool | nav_poles_setup_wp (uint8_t wp1, uint8_t wp2, float height, float radius, float margin, int8_t nb_laps) |
Init poles from flight plan waypoints. | |
bool | nav_poles_setup_lla (struct LlaCoor_f *lla1, struct LlaCoor_f *lla2, float height, float radius, float margin, int8_t nb_laps) |
Init poles from waypoints coordinates in LLA format. | |
bool | nav_poles_run (void) |
Variables | |
uint8_t | nav_poles_count = 0 |
static struct EnuCoor_f oval_wp1 | oval_wp2 |
static float | oval_radius |
static int8_t | nav_poles_nb_laps |
Turn around 2 points, with possible margins Can be used in mission mode.
Definition in file nav_poles_rotorcraft.c.
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Definition at line 96 of file nav_poles_rotorcraft.c.
References foo, NavVerticalAltitudeMode, oval_radius, oval_wp2, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.
Referenced by nav_poles_setup_lla(), and nav_poles_setup_wp().
Global init.
Definition at line 85 of file nav_poles_rotorcraft.c.
References foo, mission_register(), nav_poles_count, nav_poles_nb_laps, and oval_radius.
Definition at line 146 of file nav_poles_rotorcraft.c.
References foo, nav, RotorcraftNavigation::nav_oval, nav_poles_count, nav_poles_nb_laps, NavOvalCount, oval_radius, and oval_wp2.
bool nav_poles_setup_lla | ( | struct LlaCoor_f * | lla1, |
struct LlaCoor_f * | lla2, | ||
float | height, | ||
float | radius, | ||
float | margin, | ||
int8_t | nb_laps | ||
) |
Init poles from waypoints coordinates in LLA format.
[in] | wp1 | waypoint LLA position |
[in] | wp2 | waypoint LLA position |
[in] | height | flight height above ref point |
[in] | radius | turn radius in meters, CW is >0, CCW otherwise |
[in] | margin | margin factor: 0 -> overfly points, 1 -> turn at 'radius' distance |
[in] | nb_laps | number of laps (<0 for no lap limit) |
Definition at line 135 of file nav_poles_rotorcraft.c.
References compute_oval_points(), enu_of_lla_point_f(), foo, nav_poles_nb_laps, and stateGetNedOrigin_f().
bool nav_poles_setup_wp | ( | uint8_t | wp1, |
uint8_t | wp2, | ||
float | height, | ||
float | radius, | ||
float | margin, | ||
int8_t | nb_laps | ||
) |
Init poles from flight plan waypoints.
[in] | wp1 | waypoint ID |
[in] | wp2 | waypoint ID |
[in] | height | flight height above ref point |
[in] | radius | turn radius in meters, CW is >0, CCW otherwise |
[in] | margin | margin factor: 0 -> overfly points, 1 -> turn at 'radius' distance |
Definition at line 123 of file nav_poles_rotorcraft.c.
References compute_oval_points(), foo, nav_poles_nb_laps, and waypoint_get_enu_f().
uint8_t nav_poles_count = 0 |
Definition at line 34 of file nav_poles_rotorcraft.c.
Referenced by nav_poles_init(), and nav_poles_run().
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Definition at line 39 of file nav_poles_rotorcraft.c.
Referenced by nav_poles_init(), nav_poles_run(), nav_poles_setup_lla(), and nav_poles_setup_wp().
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Definition at line 38 of file nav_poles_rotorcraft.c.
Referenced by compute_oval_points(), nav_poles_init(), and nav_poles_run().
Definition at line 37 of file nav_poles_rotorcraft.c.
Referenced by compute_oval_points(), and nav_poles_run().