nav_spiral_3D.h File Reference

Fixedwing navigation in a 3D spiral. More...

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

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Functions
void	nav_spiral_3D_init (void)
bool	nav_spiral_3D_run (void)
	Run spiral 3D navigation. More...
void	nav_spiral_3D_setup (float center_x, float center_y, float alt_start, float alt_stop, float radius_start, float radius_stop, float vx, float vy, float vz)
	Initialize spiral 3D based on: More...

Detailed Description

Fixedwing navigation in a 3D spiral.

Definition in file nav_spiral_3D.h.

Function Documentation

nav_spiral_3D_init()

void nav_spiral_3D_init

(

void

)

Definition at line 117 of file nav_spiral_3D.c.

References FLOAT_VECT3_ZERO, mission_register(), nav_spiral_3D, and NavSpiral3D::pos_incr.

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nav_spiral_3D_run()

bool nav_spiral_3D_run

(

void

)

Run spiral 3D navigation.

Definition at line 185 of file nav_spiral_3D.c.

nav_spiral_3D_setup()

void nav_spiral_3D_setup	(	float	center_x,
		float	center_y,
		float	alt_start,
		float	alt_stop,
		float	radius_start,
		float	radius_stop,
		float	vx,
		float	vy,
		float	vz
	)

Initialize spiral 3D based on:

• position X, Y
• start and stop altitude
• start and stop radius
• speeds (horizontal and vertical)

Definition at line 127 of file nav_spiral_3D.c.

References NavSpiral3D::alt_start, NavSpiral3D::alt_stop, NavSpiral3D::center, nav_dt, nav_spiral_3D, NAV_SPIRAL_3D_MIN_CIRCLE_RADIUS, NavSpiral3D::pos_incr, NavSpiral3D::radius, NavSpiral3D::radius_increment, NavSpiral3D::radius_min, NavSpiral3D::radius_start, NavSpiral3D::radius_stop, sign(), Spiral3DFail, Spiral3DStart, NavSpiral3D::status, VECT3_ASSIGN, and FloatVect3::z.

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