nav_takeoff_and_landing.h File Reference

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

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Data Structures
struct	nav_takeoff
	Structure for takeoff. More...
struct	nav_landing
	Structure for landing. More...

Enumerations
enum	nav_takeoff_status { NAV_TAKEOFF_INIT , NAV_TAKEOFF_START_MOTOR , NAV_TAKEOFF_CLIMB , NAV_TAKEOFF_DONE }
enum	nav_landing_status {   NAV_LANDING_INIT , NAV_LANDING_REACH_AF , NAV_LANDING_DESCENT , NAV_LANDING_FLARE ,   NAV_LANDING_DONE }

Functions
void	nav_takeoff_and_landing_init (void)
	Init function. More...
void	nav_takeoff_and_landing_periodic (void)
	Periodic timeout check function. More...
bool	nav_takeoff_from_wp (uint8_t wp_id)
	Takeoff from a waypoint. More...
bool	nav_takeoff_from_loc (float lat, float lon)
	Takeoff from lat long location. More...
bool	nav_takeoff_from_here (void)
	Takeoff from current location. More...
bool	nav_land_at_wp (uint8_t td_id, uint8_t af_id, float radius)
	Land at waypoint location. More...
bool	nav_land_at_loc (float td_alt, float lat, float lon, float dir, float dist, float radius)
	Land at lat long location. More...
bool	nav_land_here (float td_alt, float radius)
	Land at current location. More...

Variables
float	nav_takeoff_direction
	Takeoff direction in range [0-360] (deg) set to flight plan QFU by default. More...

Detailed Description

Author

Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Navigation routines for takeoff and landing Basic procedures for rotorcraft and fixed-wing

Definition in file nav_takeoff_and_landing.h.

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Data Structure Documentation

nav_takeoff

struct nav_takeoff

Structure for takeoff.

Definition at line 50 of file nav_takeoff_and_landing.h.

Collaboration diagram for nav_takeoff:

Data Fields
uint8_t	climb_id	climb waypoint id
struct EnuCoor_f	climb_pos	climb point
struct EnuCoor_f	start_pos	start position
enum nav_takeoff_status	status	current step
bool	timeout	true if status should be set to init

nav_landing

struct nav_landing

Structure for landing.

Definition at line 60 of file nav_takeoff_and_landing.h.

Collaboration diagram for nav_landing:

Data Fields
uint8_t	af_id	start of descent wp id
struct EnuCoor_f	af_pos	start of descent point
float	radius	circle radius for fixedwing landing
enum nav_landing_status	status	current step
uint8_t	td_id	touch down wp id
struct EnuCoor_f	td_pos	touch down point
bool	timeout	true if status should be set to init

Enumeration Type Documentation

nav_landing_status

enum nav_landing_status

Enumerator
NAV_LANDING_INIT
NAV_LANDING_REACH_AF
NAV_LANDING_DESCENT
NAV_LANDING_FLARE
NAV_LANDING_DONE

Definition at line 40 of file nav_takeoff_and_landing.h.

nav_takeoff_status

enum nav_takeoff_status

Enumerator
NAV_TAKEOFF_INIT
NAV_TAKEOFF_START_MOTOR
NAV_TAKEOFF_CLIMB
NAV_TAKEOFF_DONE

Definition at line 33 of file nav_takeoff_and_landing.h.

Function Documentation

nav_land_at_loc()

bool nav_land_at_loc	(	float	td_alt,
		float	lat,
		float	lon,
		float	dir,
		float	dist,
		float	radius
	)

Land at lat long location.

Parameters

[in]	td_alt	touch down altitude above ground ref (m)
[in]	lat	landing latitude (deg)
[in]	lon	landing longitude (deg)
[in]	dir	direction approach direction ([0-360], deg)
[in]	dist	distance to start descent (m)
[in]	radius	circle radius for final turn (if positive: turn right, if negative: turn left) (m)

Returns

true until procedure is completed

Definition at line 343 of file nav_takeoff_and_landing_fw.c.

References nav_landing::af_id, nav_landing::af_pos, dir, ENU_OF_UTM_DIFF, GetAltRef, landing, LlaCoor_f::lat, LlaCoor_f::lon, nav_land_run(), NAV_LANDING_AF_HEIGHT, NAV_LANDING_INIT, nav_landing::radius, state, nav_landing::status, nav_landing::td_id, nav_landing::td_pos, utm_of_lla_f(), State::utm_origin_f, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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nav_land_at_wp()

bool nav_land_at_wp	(	uint8_t	td_id,
		uint8_t	af_id,
		float	radius
	)

Land at waypoint location.

set touch down (TD) and start of descent (AF)

• rotorcraft: if TD and AF id are the same, vertical landing

Parameters

[in]	td_id	waypoint ID for touch down point
[in]	af_if	waypoint ID for start of descent
[in]	radius	circle radius for final turn (if positive: turn right, if negative: turn left) (m)

Returns

true until procedure is completed

Definition at line 326 of file nav_takeoff_and_landing_fw.c.

References nav_landing::af_id, nav_landing::af_pos, GetAltRef, landing, nav_land_run(), NAV_LANDING_AF_HEIGHT, NAV_LANDING_INIT, nav_landing::radius, nav_landing::status, nav_landing::td_id, nav_landing::td_pos, WaypointAlt, WaypointX, WaypointY, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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nav_land_here()

bool nav_land_here	(	float	td_alt,
		float	radius
	)

Land at current location.

emergency landing

• fixedwing: circle down around current location
• rotorcraft: vertical landing at current location

Parameters

[in]	td_alt	touch down altitude above ground ref (m)
[in]	radius	circle radius for final turn (if positive: turn right, if negative: turn left) (m)

Returns

true until procedure is completed

Definition at line 361 of file nav_takeoff_and_landing_fw.c.

References nav_landing::af_id, nav_landing::af_pos, landing, nav_land_run(), NAV_LANDING_AF_HEIGHT, NAV_LANDING_INIT, nav_landing::radius, stateGetPositionEnu_f(), nav_landing::status, nav_landing::td_id, nav_landing::td_pos, and EnuCoor_f::z.

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nav_takeoff_and_landing_init()

void nav_takeoff_and_landing_init

(

void

)

Init function.

Definition at line 117 of file nav_takeoff_and_landing_fw.c.

References nav_landing::af_id, nav_takeoff::climb_id, landing, mission_register(), NAV_LANDING_INIT, nav_takeoff_direction, NAV_TAKEOFF_INIT, nav_landing::radius, nav_landing::status, nav_takeoff::status, takeoff, nav_landing::td_id, nav_takeoff::timeout, and nav_landing::timeout.

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nav_takeoff_and_landing_periodic()

void nav_takeoff_and_landing_periodic

(

void

)

Periodic timeout check function.

Definition at line 135 of file nav_takeoff_and_landing_fw.c.

References landing, NAV_LANDING_INIT, NAV_TAKEOFF_INIT, nav_landing::status, nav_takeoff::status, takeoff, nav_takeoff::timeout, and nav_landing::timeout.

nav_takeoff_from_here()

bool nav_takeoff_from_here

(

void

)

Takeoff from current location.

• fixedwing: climb direction is specified with setting
• rotorcraft: start from current location and climb verticaly

Returns

true until procedure is completed

Definition at line 215 of file nav_takeoff_and_landing_fw.c.

References nav_takeoff::climb_id, nav_takeoff::climb_pos, nav_takeoff_direction, NAV_TAKEOFF_DIST, NAV_TAKEOFF_HEIGHT, NAV_TAKEOFF_INIT, nav_takeoff_run(), nav_takeoff::start_pos, stateGetPositionEnu_f(), nav_takeoff::status, takeoff, waypoint_set_enu(), EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by nav_takeoff_from_loc().

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nav_takeoff_from_loc()

bool nav_takeoff_from_loc	(	float	lat,
		float	lon
	)

Takeoff from lat long location.

• fixedwing: set the climb direction
• rotorcraft: start from current location and climb verticaly (lat, lon have no effect)

Parameters

[in]	lat	takeoff latitude (deg)
[in]	lon	takeoff longitude (deg)

Returns

true until procedure is completed

Definition at line 204 of file nav_takeoff_and_landing_fw.c.

References LlaCoor_f::alt, nav_takeoff::climb_pos, ENU_OF_UTM_DIFF, LlaCoor_f::lat, LlaCoor_f::lon, nav_takeoff_from_here(), NAV_TAKEOFF_HEIGHT, NAV_TAKEOFF_INIT, state, stateGetPositionLla_f(), nav_takeoff::status, takeoff, utm_of_lla_f(), and State::utm_origin_f.

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nav_takeoff_from_wp()

bool nav_takeoff_from_wp

(

uint8_t

wp_id

)

Takeoff from a waypoint.

• fixedwing: set the climb direction
• rotorcraft: set the wp at current location and climb verticaly

Parameters

[in]

wp_id

waypoint ID

Returns

true until procedure is completed

Definition at line 191 of file nav_takeoff_and_landing_fw.c.

References nav_takeoff::climb_id, nav_takeoff::climb_pos, GetAltRef, NAV_TAKEOFF_INIT, nav_takeoff_run(), nav_takeoff::start_pos, stateGetPositionEnu_f(), nav_takeoff::status, takeoff, waypoint_get_enu_f(), waypoint_set_here_2d(), WaypointAlt, WaypointX, WaypointY, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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Variable Documentation

nav_takeoff_direction

float nav_takeoff_direction

extern

Takeoff direction in range [0-360] (deg) set to flight plan QFU by default.

Definition at line 72 of file nav_takeoff_and_landing_fw.c.

Referenced by nav_takeoff_and_landing_init(), and nav_takeoff_from_here().