nav_poles_rotorcraft.h File Reference

Turn around 2 points, with possible margins Can be used in mission mode. More...

#include "std.h"
#include "math/pprz_geodetic_float.h"

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Functions
void	nav_poles_init (void)
	Global init.
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

Detailed Description

Turn around 2 points, with possible margins Can be used in mission mode.

Definition in file nav_poles_rotorcraft.h.

Function Documentation

nav_poles_init()

void nav_poles_init ( void  )

extern

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.

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nav_poles_run()

bool nav_poles_run ( void  )

extern

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.

nav_poles_setup_lla()

bool nav_poles_setup_lla ( struct LlaCoor_f *  lla1, struct LlaCoor_f *  lla2, float  height, float  radius, float  margin, int8_t  nb_laps  )

extern

Init poles from waypoints coordinates in LLA format.

Parameters

[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)

Returns

true if init valid

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().

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nav_poles_setup_wp()

bool nav_poles_setup_wp ( uint8_t  wp1, uint8_t  wp2, float  height, float  radius, float  margin, int8_t  nb_laps  )

extern

Init poles from flight plan waypoints.

Parameters

[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

Returns

true if init valid

Definition at line 123 of file nav_poles_rotorcraft.c.

References compute_oval_points(), foo, nav_poles_nb_laps, and waypoint_get_enu_f().

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Variable Documentation

nav_poles_count

uint8_t nav_poles_count

extern

Definition at line 29 of file nav_poles.c.

Referenced by nav_poles_init(), and nav_poles_run().