Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
nav_spiral_3D.h File Reference
#include "std.h"
#include "math/pprz_algebra_float.h"
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Go to the source code of this file.

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()

◆ 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, f, 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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