Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
nav_spiral.h
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1 /*
2  * Copyright (C) 2011-2013 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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21 
29 #ifndef NAV_SPIRAL_H
30 #define NAV_SPIRAL_H
31 
32 #include "std.h"
34 
36 
37 struct NavSpiral {
39  struct FloatVect2 fly_from;
40  struct FloatVect2 last_circle;
41  struct FloatVect3 center;
43  float alpha_limit;
44  float segments;
45  float radius;
46  float radius_min;
47  float radius_start;
49  enum SpiralStatus status;
50 };
51 
52 extern struct NavSpiral nav_spiral;
53 
54 extern bool nav_spiral_run(void);
55 extern void nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start,
56  float radius_inc, float segments);
57 
58 #endif // NAV_SPIRAL_H
float radius
Definition: nav_spiral.h:45
float radius_min
Definition: nav_spiral.h:46
void nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments)
Definition: nav_spiral.c:50
enum SpiralStatus status
Definition: nav_spiral.h:49
float alpha_limit
Definition: nav_spiral.h:43
float radius_increment
Definition: nav_spiral.h:48
struct NavSpiral nav_spiral
Definition: nav_spiral.c:48
bool nav_spiral_run(void)
Definition: nav_spiral.c:86
struct FloatVect3 trans_current
Definition: nav_spiral.h:38
SpiralStatus
Definition: nav_spiral.h:35
@ SpiralOutside
Definition: nav_spiral.h:35
@ SpiralInc
Definition: nav_spiral.h:35
@ SpiralStartCircle
Definition: nav_spiral.h:35
@ SpiralCircle
Definition: nav_spiral.h:35
float radius_start
Definition: nav_spiral.h:47
struct FloatVect3 center
Definition: nav_spiral.h:41
float segments
Definition: nav_spiral.h:44
struct FloatVect2 fly_from
Definition: nav_spiral.h:39
float dist_from_center
Definition: nav_spiral.h:42
struct FloatVect2 last_circle
Definition: nav_spiral.h:40
Paparazzi floating point algebra.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98