nav_takeoff_and_landing.h

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/*
 * Copyright (C) 2023 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef NAV_TAKEOFF_AND_LANDING_H
#define NAV_TAKEOFF_AND_LANDING_H
 
#include "std.h"
#include "math/pprz_geodetic_float.h"
 
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
};
 
struct nav_takeoff {
  enum nav_takeoff_status status; 
  struct EnuCoor_f climb_pos;     
  struct EnuCoor_f start_pos;     
  uint8_t climb_id;               
  bool timeout;                   
};
 
struct nav_landing {
  enum nav_landing_status status; 
  struct EnuCoor_f td_pos;        
  struct EnuCoor_f af_pos;        
  float radius;                   
  uint8_t td_id;                  
  uint8_t af_id;                  
  bool timeout;                   
};
 
extern float nav_takeoff_direction;
 
extern void nav_takeoff_and_landing_init(void);
 
extern void nav_takeoff_and_landing_periodic(void);
 
extern bool nav_takeoff_from_wp(uint8_t wp_id, float height);
 
extern bool nav_takeoff_from_loc(float lat, float lon, float height);
 
extern bool nav_takeoff_from_here(float height);
 
extern bool nav_land_at_wp(uint8_t td_id, uint8_t af_id, float radius);
 
extern bool nav_land_at_loc(float td_alt, float lat, float lon, float dir, float dist, float radius);
 
extern bool nav_land_here(float td_alt, float radius);
 
#endif  // NAV_TAKEOFF_AND_LANDING_H