Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
nav_trinity.h File Reference
#include "std.h"
#include "math/pprz_geodetic_float.h"
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Functions

void nav_trinity_init (void)
 Init function called by modules init. More...
 
void nav_trinity_setup (float init_x, float init_y, float init_z, int turn, float desired_radius, float vx, float vy, float vz)
 Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters. More...
 
bool nav_trinity_run (void)
 Navigation function Called by flight plan or mission run function. More...
 

Detailed Description

Author
Titouan Verdu Adaptative trinity pattern for cloud exploration.

Definition in file nav_trinity.h.

Function Documentation

◆ nav_trinity_init()

void nav_trinity_init ( void  )

◆ nav_trinity_run()

◆ nav_trinity_setup()

void nav_trinity_setup ( float  init_x,
float  init_y,
float  init_z,
int  turn,
float  desired_radius,
float  vx,
float  vy,
float  vz 
)

Initialized the exploration with a first target point inside the cloud Called from flight plan or with mission parameters.

Definition at line 205 of file nav_trinity.c.

References NavTrinity::actual, NavTrinity::inside_cloud, nav_dt, nav_trinity, NavTrinity::pos_incr, NavTrinity::radius, NavTrinity::radius_sign, NavTrinity::rotation, stateGetPositionEnu_f(), NavTrinity::status, NavTrinity::target, TRINITY_ENTER, TRINITY_LEFT, TRINITY_RIGHT, and VECT3_ASSIGN.

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