Paparazzi UAS  v6.2_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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20  */
21 
29 #ifndef NAV_SPIRAL_H
30 #define NAV_SPIRAL_H
31 
32 #include "std.h"
34 
36 
37 struct NavSpiral {
43  float alpha_limit;
44  float segments;
45  float radius;
46  float radius_min;
47  float radius_start;
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
nav_spiral_setup
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
NavSpiral::radius
float radius
Definition: nav_spiral.h:45
SpiralStartCircle
@ SpiralStartCircle
Definition: nav_spiral.h:35
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
NavSpiral::fly_from
struct FloatVect2 fly_from
Definition: nav_spiral.h:39
NavSpiral::radius_increment
float radius_increment
Definition: nav_spiral.h:48
SpiralOutside
@ SpiralOutside
Definition: nav_spiral.h:35
NavSpiral::alpha_limit
float alpha_limit
Definition: nav_spiral.h:43
SpiralCircle
@ SpiralCircle
Definition: nav_spiral.h:35
SpiralInc
@ SpiralInc
Definition: nav_spiral.h:35
NavSpiral::segments
float segments
Definition: nav_spiral.h:44
NavSpiral::center
struct FloatVect3 center
Definition: nav_spiral.h:41
pprz_algebra_float.h
Paparazzi floating point algebra.
FloatVect2
Definition: pprz_algebra_float.h:49
FloatVect3
Definition: pprz_algebra_float.h:54
std.h
NavSpiral::last_circle
struct FloatVect2 last_circle
Definition: nav_spiral.h:40
nav_spiral
struct NavSpiral nav_spiral
Definition: nav_spiral.c:48
NavSpiral::dist_from_center
float dist_from_center
Definition: nav_spiral.h:42
NavSpiral::radius_start
float radius_start
Definition: nav_spiral.h:47
NavSpiral::radius_min
float radius_min
Definition: nav_spiral.h:46
NavSpiral::trans_current
struct FloatVect3 trans_current
Definition: nav_spiral.h:38
SpiralStatus
SpiralStatus
Definition: nav_spiral.h:35
NavSpiral::status
enum SpiralStatus status
Definition: nav_spiral.h:49
nav_spiral_run
bool nav_spiral_run(void)
Definition: nav_spiral.c:86
NavSpiral
Definition: nav_spiral.h:37