navigation.c File Reference

Rotorcraft navigation functions. More...

#include "firmwares/rotorcraft/navigation.h"
#include "pprz_debug.h"
#include "state.h"
#include "autopilot.h"
#include "generated/modules.h"
#include "generated/flight_plan.h"
#include "modules/ins/ins.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "math/pprz_algebra_int.h"
#include "modules/datalink/downlink.h"
#include "pprzlink/messages.h"
#include "mcu_periph/uart.h"
#include <stdio.h>

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Macros
#define	NAV_C
#define	CLOSE_TO_WAYPOINT   15.f

Functions
static void	empty_stage_init (void)
	Empty navigation functions set at init. More...
static void	empty_goto (struct EnuCoor_f *wp UNUSED)
static void	empty_route (struct EnuCoor_f *wp_start UNUSED, struct EnuCoor_f *wp_end UNUSED)
static bool	empty_approaching (struct EnuCoor_f *wp_to UNUSED, struct EnuCoor_f *wp_from UNUSED, float approaching_time UNUSED)
static void	empty_circle (struct EnuCoor_f *wp_center UNUSED, float radius UNUSED)
static void	empty_oval_init (void)
static void	empty_oval (struct EnuCoor_f *wp1 UNUSED, struct EnuCoor_f *wp2 UNUSED, float radius UNUSED)
static void	nav_set_altitude (void)
void	nav_init (void)
	Navigation Initialisation. More...
void	nav_parse_BLOCK (uint8_t *buf)
void	nav_parse_MOVE_WP (uint8_t *buf)
static void UNUSED	nav_advance_carrot (void)
void	nav_run (void)
bool	nav_check_wp_time (struct EnuCoor_f *wp, uint16_t stay_time)
	Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp More...
void	nav_reset_reference (void)
	Reset the geographic reference to the current GPS fix. More...
void	nav_reset_alt (void)
void	nav_init_stage (void)
	needs to be implemented by fixedwing and rotorcraft seperately More...
void	nav_periodic_task (void)
	Navigation main: call to the code generated from the XML flight plan. More...
bool	nav_detect_ground (void)
bool	nav_is_in_flight (void)
void	nav_glide_points (struct EnuCoor_f *start_point, struct EnuCoor_f *end_point)
void	nav_home (void)
	Home mode navigation. More...
float	get_dist2_to_point (struct EnuCoor_f *p)
	Returns squared horizontal distance to given point. More...
float	get_dist2_to_waypoint (uint8_t wp_id)
	Returns squared horizontal distance to given waypoint. More...
void	compute_dist2_to_home (void)
	Computes squared distance to the HOME waypoint potentially sets too_far_from_home. More...
void	nav_set_heading_rad (float rad)
	Set nav_heading in radians. More...
void	nav_set_heading_deg (float deg)
	Set nav_heading in degrees. More...
void	nav_set_heading_towards (float x, float y)
	Set heading to point towards x,y position in local coordinates. More...
void	nav_set_heading_towards_waypoint (uint8_t wp)
	Set heading in the direction of a waypoint. More...
void	nav_set_heading_towards_target (void)
	Set heading in the direction of the target. More...
void	nav_set_heading_current (void)
	Set heading to the current yaw angle. More...
void	nav_set_failsafe (void)
void	nav_register_stage_init (navigation_stage_init nav_stage_init)
	Register functions. More...
void	nav_register_goto_wp (navigation_goto nav_goto, navigation_route nav_route, navigation_approaching nav_approaching)
	Registering functions. More...
void	nav_register_circle (navigation_circle nav_circle)
void	nav_register_oval (navigation_oval_init _nav_oval_init, navigation_oval nav_oval)

Variables
struct RotorcraftNavigation	nav
const float	max_dist_from_home = MAX_DIST_FROM_HOME
const float	max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME
float	flight_altitude
	Dynamically adjustable, reset to nav_altitude when it is changing. More...

Detailed Description

Rotorcraft navigation functions.

Definition in file navigation.c.

Macro Definition Documentation

CLOSE_TO_WAYPOINT

#define CLOSE_TO_WAYPOINT   15.f

Definition at line 140 of file navigation.c.

NAV_C

#define NAV_C

Definition at line 29 of file navigation.c.

Function Documentation

compute_dist2_to_home()

void compute_dist2_to_home

(

void

)

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Definition at line 326 of file navigation.c.

References RotorcraftNavigation::dist2_to_home, get_dist2_to_waypoint(), max_dist2_from_home, nav, stateGetPositionEnu_f(), RotorcraftNavigation::too_far_from_home, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by autopilot_static_periodic(), nav_home(), and nav_periodic_task().

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empty_approaching()

static bool empty_approaching ( struct EnuCoor_f *wp_to  UNUSED, struct EnuCoor_f *wp_from  UNUSED, float approaching_time  UNUSED  )

static

Definition at line 63 of file navigation.c.

Referenced by nav_init().

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empty_circle()

static void empty_circle ( struct EnuCoor_f *wp_center  UNUSED, float radius  UNUSED  )

static

Definition at line 64 of file navigation.c.

Referenced by nav_init().

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empty_goto()

static void empty_goto ( struct EnuCoor_f *wp  UNUSED )

static

Definition at line 61 of file navigation.c.

Referenced by nav_init().

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empty_oval()

static void empty_oval ( struct EnuCoor_f *wp1  UNUSED, struct EnuCoor_f *wp2  UNUSED, float radius  UNUSED  )

static

Definition at line 66 of file navigation.c.

Referenced by nav_init().

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empty_oval_init()

static void empty_oval_init ( void  )

static

Definition at line 65 of file navigation.c.

Referenced by nav_init().

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empty_route()

static void empty_route ( struct EnuCoor_f *wp_start  UNUSED, struct EnuCoor_f *wp_end  UNUSED  )

static

Definition at line 62 of file navigation.c.

Referenced by nav_init().

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empty_stage_init()

static void empty_stage_init ( void  )

static

Empty navigation functions set at init.

Definition at line 60 of file navigation.c.

Referenced by nav_init().

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get_dist2_to_point()

float get_dist2_to_point

(

struct EnuCoor_f *

p

)

Returns squared horizontal distance to given point.

Definition at line 308 of file navigation.c.

References p, pos_diff, stateGetPositionEnu_f(), FloatVect2::x, EnuCoor_f::x, FloatVect2::y, and EnuCoor_f::y.

Referenced by get_dist2_to_waypoint(), nav_goto(), nav_hybrid_goto(), nav_hybrid_route(), and nav_route().

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get_dist2_to_waypoint()

float get_dist2_to_waypoint

(

uint8_t

wp_id

)

Returns squared horizontal distance to given waypoint.

Definition at line 318 of file navigation.c.

References get_dist2_to_point(), and waypoints.

Referenced by compute_dist2_to_home().

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nav_advance_carrot()

static void UNUSED nav_advance_carrot ( void  )

inlinestatic

Definition at line 143 of file navigation.c.

References RotorcraftNavigation::carrot, CLOSE_TO_WAYPOINT, float_vect2_norm(), nav, NAV_CARROT_DIST, stateGetPositionEnu_f(), RotorcraftNavigation::target, VECT2_COPY, VECT2_DIFF, VECT2_SDIV, VECT2_SMUL, VECT2_STRIM, and VECT2_SUM.

Referenced by nav_run().

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nav_check_wp_time()

bool nav_check_wp_time	(	struct EnuCoor_f *	wp,
		uint16_t	stay_time
	)

Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp

Definition at line 180 of file navigation.c.

References ARRIVED_AT_WAYPOINT, autopilot, ENU_BFP_OF_REAL, pprz_autopilot::flight_time, float_vect2_norm(), INT_VECT3_ZERO, stateGetPositionEnu_f(), VECT2_DIFF, EnuCoor_i::x, and EnuCoor_i::y.

Referenced by mission_nav_path(), mission_nav_segment(), and mission_nav_wp().

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nav_detect_ground()

bool nav_detect_ground

(

void

)

Definition at line 267 of file navigation.c.

References autopilot, and pprz_autopilot::ground_detected.

nav_glide_points()

void nav_glide_points	(	struct EnuCoor_f *	start_point,
		struct EnuCoor_f *	end_point
	)

Definition at line 282 of file navigation.c.

References float_vect2_norm2(), NavVerticalAltitudeMode, pos_diff, stateGetPositionEnu_f(), VECT2_DIFF, FloatVect2::x, FloatVect2::y, and EnuCoor_f::z.

Referenced by nav_land_run(), and NavGlide().

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nav_home()

void nav_home

(

void

)

Home mode navigation.

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 294 of file navigation.c.

References RotorcraftNavigation::horizontal_mode, nav, RotorcraftNavigation::nav_altitude, NAV_HORIZONTAL_MODE_WAYPOINT, nav_run(), NAV_SETPOINT_MODE_POS, NAV_VERTICAL_MODE_ALT, RotorcraftNavigation::setpoint_mode, RotorcraftNavigation::target, VECT3_COPY, RotorcraftNavigation::vertical_mode, waypoint_get_alt(), and waypoints.

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nav_init()

void nav_init

(

void

)

Navigation Initialisation.

Definition at line 70 of file navigation.c.

References RotorcraftNavigation::accel, RotorcraftNavigation::carrot, RotorcraftNavigation::climb, RotorcraftNavigation::climb_vspeed, common_flight_plan_init(), DEFAULT_CIRCLE_RADIUS, RotorcraftNavigation::descend_vspeed, RotorcraftNavigation::dist2_to_home, empty_approaching(), empty_circle(), empty_goto(), empty_oval(), empty_oval_init(), empty_route(), empty_stage_init(), RotorcraftNavigation::failsafe_mode_dist2, FAILSAFE_MODE_DISTANCE, flight_altitude, float_quat_identity(), FLOAT_RATES_ZERO, FLOAT_VECT3_ZERO, RotorcraftNavigation::fp_altitude, RotorcraftNavigation::fp_max_speed, RotorcraftNavigation::heading, RotorcraftNavigation::horizontal_mode, nav, RotorcraftNavigation::nav_altitude, RotorcraftNavigation::nav_approaching, RotorcraftNavigation::nav_circle, NAV_CLIMB_VSPEED, NAV_DESCEND_VSPEED, RotorcraftNavigation::nav_goto, NAV_HORIZONTAL_MODE_WAYPOINT, RotorcraftNavigation::nav_oval, RotorcraftNavigation::nav_oval_init, RotorcraftNavigation::nav_route, NAV_SETPOINT_MODE_POS, RotorcraftNavigation::nav_stage_init, NAV_VERTICAL_MODE_ALT, RotorcraftNavigation::pitch, RotorcraftNavigation::quat, RotorcraftNavigation::radius, RotorcraftNavigation::rates, RotorcraftNavigation::roll, RotorcraftNavigation::setpoint_mode, RotorcraftNavigation::speed, RotorcraftNavigation::target, RotorcraftNavigation::throttle, RotorcraftNavigation::too_far_from_home, VECT3_COPY, RotorcraftNavigation::vertical_mode, waypoints, and waypoints_init().

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nav_init_stage()

void nav_init_stage

(

void

)

needs to be implemented by fixedwing and rotorcraft seperately

Definition at line 247 of file navigation.c.

References nav, RotorcraftNavigation::nav_stage_init, and stage_time.

nav_is_in_flight()

bool nav_is_in_flight

(

void

)

Definition at line 277 of file navigation.c.

References autopilot_in_flight().

Referenced by follow_me(), and nav_land_run().

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nav_parse_BLOCK()

void nav_parse_BLOCK

(

uint8_t *

buf

)

Definition at line 115 of file navigation.c.

References nav_goto_block().

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nav_parse_MOVE_WP()

void nav_parse_MOVE_WP

(

uint8_t *

buf

)

Definition at line 121 of file navigation.c.

References LlaCoor_i::alt, LlaCoor_i::lat, LlaCoor_i::lon, stateGetHmslOrigin_i(), stateGetLlaOrigin_i(), stateIsLocalCoordinateValid(), and waypoint_move_lla().

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nav_periodic_task()

void nav_periodic_task

(

void

)

Navigation main: call to the code generated from the XML flight plan.

Definition at line 256 of file navigation.c.

References block_time, nav_run(), NAVIGATION_FREQUENCY, and stage_time.

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nav_register_circle()

void nav_register_circle

(

navigation_circle

nav_circle

)

Definition at line 399 of file navigation.c.

References nav, RotorcraftNavigation::nav_circle, and nav_circle().

Referenced by nav_rotorcraft_hybrid_init(), nav_rotorcraft_init(), and nav_rover_init().

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nav_register_goto_wp()

void nav_register_goto_wp	(	navigation_goto	nav_goto,
		navigation_route	nav_route,
		navigation_approaching	nav_approaching
	)

Registering functions.

Definition at line 392 of file navigation.c.

References nav, RotorcraftNavigation::nav_approaching, nav_approaching(), RotorcraftNavigation::nav_goto, nav_goto(), RotorcraftNavigation::nav_route, and nav_route().

Referenced by nav_rotorcraft_hybrid_init(), nav_rotorcraft_init(), and nav_rover_init().

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nav_register_oval()

void nav_register_oval	(	navigation_oval_init	_nav_oval_init,
		navigation_oval	nav_oval
	)

Definition at line 404 of file navigation.c.

References _nav_oval_init(), nav, nav_oval(), RotorcraftNavigation::nav_oval, and RotorcraftNavigation::nav_oval_init.

Referenced by nav_rotorcraft_init(), and nav_rover_init().

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nav_register_stage_init()

void nav_register_stage_init

(

navigation_stage_init

nav_stage_init

)

Register functions.

Registering functions.

Definition at line 387 of file navigation.c.

References nav, RotorcraftNavigation::nav_stage_init, and nav_stage_init().

Referenced by nav_rotorcraft_init().

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nav_reset_alt()

void nav_reset_alt

(

void

)

Definition at line 241 of file navigation.c.

References INS_RESET_VERTICAL_REF, and waypoints_localize_all().

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nav_reset_reference()

void nav_reset_reference

(

void

)

Reset the geographic reference to the current GPS fix.

Definition at line 234 of file navigation.c.

References INS_RESET_REF, and waypoints_localize_all().

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nav_run()

void nav_run

(

void

)

Definition at line 165 of file navigation.c.

References RotorcraftNavigation::carrot, nav, nav_advance_carrot(), nav_set_altitude(), RotorcraftNavigation::target, and VECT2_COPY.

Referenced by nav_home(), and nav_periodic_task().

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nav_set_altitude()

static void nav_set_altitude ( void  )

inlinestatic

Definition at line 217 of file navigation.c.

References flight_altitude, RotorcraftNavigation::fp_altitude, nav, RotorcraftNavigation::nav_altitude, and stateGetHmslOrigin_f().

Referenced by nav_run().

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nav_set_failsafe()

void nav_set_failsafe

(

void

)

Definition at line 380 of file navigation.c.

References AP_MODE_FAILSAFE, and autopilot_set_mode().

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nav_set_heading_current()

void nav_set_heading_current

(

void

)

Set heading to the current yaw angle.

Definition at line 375 of file navigation.c.

References RotorcraftNavigation::heading, nav, FloatEulers::psi, and stateGetNedToBodyEulers_f().

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nav_set_heading_deg()

void nav_set_heading_deg

(

float

deg

)

Set nav_heading in degrees.

Definition at line 344 of file navigation.c.

References nav_set_heading_rad().

Referenced by nav_survey_poly_setup(), and nav_survey_rectangle_rotorcraft_setup().

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nav_set_heading_rad()

void nav_set_heading_rad

(

float

rad

)

Set nav_heading in radians.

heading utility functions

Definition at line 337 of file navigation.c.

References RotorcraftNavigation::heading, nav, and NormCourseRad.

Referenced by nav_set_heading_deg(), and stereocam_droplet_periodic().

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nav_set_heading_towards()

void nav_set_heading_towards	(	float	x,
		float	y
	)

Set heading to point towards x,y position in local coordinates.

Definition at line 350 of file navigation.c.

References RotorcraftNavigation::heading, nav, pos_diff, stateGetPositionEnu_f(), target, VECT2_DIFF, VECT2_NORM2, FloatVect2::x, and FloatVect2::y.

Referenced by nav_set_heading_towards_target(), and nav_set_heading_towards_waypoint().

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nav_set_heading_towards_target()

void nav_set_heading_towards_target

(

void

)

Set heading in the direction of the target.

Definition at line 369 of file navigation.c.

References nav, nav_set_heading_towards(), RotorcraftNavigation::target, EnuCoor_f::x, and EnuCoor_f::y.

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nav_set_heading_towards_waypoint()

void nav_set_heading_towards_waypoint

(

uint8_t

wp

)

Set heading in the direction of a waypoint.

Definition at line 363 of file navigation.c.

References nav_set_heading_towards(), WaypointX, and WaypointY.

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Variable Documentation

flight_altitude

float flight_altitude

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 56 of file navigation.c.

Referenced by nav_init(), and nav_set_altitude().

max_dist2_from_home

const float max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME

Definition at line 54 of file navigation.c.

Referenced by compute_dist2_to_home().

max_dist_from_home

const float max_dist_from_home = MAX_DIST_FROM_HOME

Definition at line 53 of file navigation.c.

Referenced by mission_point_of_lla().

nav

struct RotorcraftNavigation nav

Definition at line 1 of file navigation.c.

Referenced by autopilot_static_on_rc_frame(), autopilot_static_periodic(), compute_dist2_to_home(), follow_me(), guidance_h_from_nav(), guidance_h_update_reference(), guidance_indi_enter(), guidance_pid_h_enter(), gvf_control_2D(), increase_nav_heading(), ins_ekf2_publish_attitude(), mission_nav_circle(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_advance_carrot(), nav_circle(), nav_goto(), nav_heli_spinup_run(), nav_heli_spinup_setup(), nav_home(), nav_hybrid_circle(), nav_hybrid_goto(), nav_hybrid_route(), nav_init(), nav_init_stage(), nav_land_run(), nav_oval(), nav_register_circle(), nav_register_goto_wp(), nav_register_oval(), nav_register_stage_init(), nav_route(), nav_run(), nav_set_altitude(), nav_set_heading_current(), nav_set_heading_rad(), nav_set_heading_towards(), nav_set_heading_towards_target(), nav_survey_hybrid_run(), nav_survey_poly_run(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), object_tracking_run(), oneloop_from_nav(), rotorcraft_cam_periodic(), run_avoid_navigation_onvision(), send_fp(), send_nav_status(), set_exception_flag(), and stereocam_droplet_periodic().