navigation.h File Reference

Rover navigation functions. More...

#include "std.h"
#include "math/pprz_geodetic_float.h"
#include "state.h"
#include "modules/nav/waypoints.h"
#include "modules/nav/common_flight_plan.h"
#include "autopilot.h"

Include dependency graph for navigation.h:

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Data Structures
struct	RoverNavigation
	General Navigation structure. More...

Macros
#define	CARROT   0.f
	default approaching_time for a wp More...
#define	CARROT_DIST   2.f
#define	NAVIGATION_FREQUENCY   20
	default navigation frequency More...
#define	DEFAULT_CIRCLE_RADIUS   6.0f
	default nav_circle_radius in meters More...
#define	ARRIVED_AT_WAYPOINT   3.0f
	minimum horizontal distance to waypoint to mark as arrived More...
#define	FAILSAFE_MODE_DISTANCE   (1.2*MAX_DIST_FROM_HOME)
	Maximum distance from HOME waypoint before going into failsafe mode. More...
#define	NAV_MODE_WAYPOINT   0
	Nav modes. More...
#define	NAV_MODE_ROUTE   1
#define	NAV_MODE_CIRCLE   2
#define	NAV_MODE_HEADING   3
#define	NAV_MODE_MANUAL   4
#define	GetPosX()   (stateGetPositionEnu_f()->x)
	Get current x (east) position in local coordinates. More...
#define	GetPosY()   (stateGetPositionEnu_f()->y)
	Get current y (north) position in local coordinates. More...
#define	GetPosAlt()   (stateGetPositionEnu_f()->z+stateGetHmslOrigin_f())
	Get current altitude above MSL. More...
#define	GetPosHeight()   (stateGetPositionEnu_f()->z)
	Get current height above reference. More...
#define	GetAltRef()   (stateGetHmslOrigin_f())
	Get current altitude reference for local coordinates. More...
#define	NormCourse(x)
	Normalize a degree angle between 0 and 359. More...
#define	NormCourseRad(x)
	Normalize a rad angle between 0 and 2*PI. More...
#define	NavSetFailsafe   nav_set_failsafe
#define	NavSetGroundReferenceHere   nav_reset_reference
#define	NavSetAltitudeReferenceHere   nav_reset_alt
#define	NavSetWaypointHere   waypoint_set_here_2d
#define	NavCopyWaypoint   waypoint_copy
#define	NavCopyWaypointPositionOnly   waypoint_position_copy
#define	NavCheckWaypointTime(wp, time)   nav_check_wp_time(&waypoints[wp].enu_f, time)
#define	NavAttitude(_roll)
#define	NavVerticalThrottleMode(_speed)
#define	NavHeading   nav_set_heading_rad
	Set the heading of the rover, nothing else. More...
#define	NavSetMaxSpeed(_speed)   {}
#define	navigation_IncreaseShift(x)   { if (x==0) nav.shift = 0; else nav.shift += x; }
	Settings handlers. More...
#define	navigation_SetNavRadius(x)   { if (x==1) nav.radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav.radius = -DEFAULT_CIRCLE_RADIUS; else nav.radius = x; }
#define	NavFollow   nav_follow(_id, _dist, _height) {}
#define	NavGlide(_start_wp, _wp)   {}
	Unused compat macros. More...
#define	NavVerticalAutoThrottleMode(_pitch)   {}
#define	NavVerticalAutoPitchMode(_throttle)   {}
#define	NavVerticalAltitudeMode(_alt, _pre_climb)   {}
#define	NavVerticalClimbMode(_climb)   {}

Typedefs
typedef void(*	nav_rover_goto) (struct EnuCoor_f *wp)
typedef void(*	nav_rover_route) (struct EnuCoor_f *wp_start, struct EnuCoor_f *wp_end)
typedef bool(*	nav_rover_approaching) (struct EnuCoor_f *wp_to, struct EnuCoor_f *wp_from, float approaching_time)
typedef void(*	nav_rover_circle) (struct EnuCoor_f *wp_center, float radius)
typedef void(*	nav_rover_oval_init) (void)
typedef void(*	nav_rover_oval) (struct EnuCoor_f *wp1, struct EnuCoor_f *wp2, float radius)

Functions
void	nav_register_goto_wp (nav_rover_goto nav_goto, nav_rover_route nav_route, nav_rover_approaching nav_approaching)
	Registering functions. More...
void	nav_register_circle (nav_rover_circle nav_circle)
void	nav_register_oval (nav_rover_oval_init nav_oval_init, nav_rover_oval nav_oval)
void	nav_init (void)
	Navigation Initialisation. More...
void	nav_run (void)
void	nav_parse_BLOCK (uint8_t *buf)
void	nav_parse_MOVE_WP (uint8_t *buf)
void	set_exception_flag (uint8_t flag_num)
float	get_dist2_to_waypoint (uint8_t wp_id)
	Returns squared horizontal distance to given waypoint. More...
float	get_dist2_to_point (struct EnuCoor_f *p)
	Returns squared horizontal distance to given point. More...
void	compute_dist2_to_home (void)
	Computes squared distance to the HOME waypoint potentially sets too_far_from_home. More...
void	nav_home (void)
	Home mode navigation (circle around HOME) More...
void	nav_set_manual (float speed, float turn)
void	nav_reset_reference (void)
	Reset the geographic reference to the current GPS fix. More...
void	nav_reset_alt (void)
	Reset the altitude reference to the current GPS alt. More...
void	nav_periodic_task (void)
	Navigation main: call to the code generated from the XML flight plan. More...
bool	nav_is_in_flight (void)
void	nav_set_heading_rad (float rad)
	heading utility functions 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)
static void	NavKillThrottle (void)
static void	NavResurrect (void)
bool	nav_check_wp_time (struct EnuCoor_f *wp, float stay_time)
	Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp More...
static void	NavGotoWaypoint (uint8_t wp)
static void	NavSegment (uint8_t wp_start, uint8_t wp_end)
static bool	NavApproaching (uint8_t wp, float approaching_time)
static bool	NavApproachingFrom (uint8_t to, uint8_t from, float approaching_time)
static void	NavCircleWaypoint (uint8_t wp_center, float radius)
static void	nav_oval_init (void)
static void	Oval (uint8_t wp1, uint8_t wp2, float radius)

Variables
struct RoverNavigation	nav

Detailed Description

Rover navigation functions.

Definition in file navigation.h.

---

Data Structure Documentation

RoverNavigation

struct RoverNavigation

General Navigation structure.

Definition at line 88 of file navigation.h.

Collaboration diagram for RoverNavigation:

Data Fields
struct EnuCoor_f	carrot	carrot position
float	dist2_to_home	squared distance to home waypoint
bool	exception_flag[10]	array of flags that might be used in flight plans
float	failsafe_mode_dist2	maximum squared distance to home wp before going to failsafe mode
float	heading	heading setpoint (in radians)
struct EnuCoor_f	last_pos	last stage position
uint8_t	mode
nav_rover_approaching	nav_approaching
nav_rover_circle	nav_circle
nav_rover_goto	nav_goto
nav_rover_oval	nav_oval
nav_rover_oval_init	nav_oval_init
nav_rover_route	nav_route
float	radius	radius setpoint
float	shift	lateral shift (in meters)
float	speed	speed setpoint
struct EnuCoor_f	target	final target
bool	too_far_from_home	too_far flag
float	turn	turn rate setpoint

Macro Definition Documentation

ARRIVED_AT_WAYPOINT

#define ARRIVED_AT_WAYPOINT   3.0f

minimum horizontal distance to waypoint to mark as arrived

Definition at line 63 of file navigation.h.

CARROT

#define CARROT   0.f

default approaching_time for a wp

Definition at line 39 of file navigation.h.

CARROT_DIST

#define CARROT_DIST   2.f

Definition at line 43 of file navigation.h.

DEFAULT_CIRCLE_RADIUS

#define DEFAULT_CIRCLE_RADIUS   6.0f

default nav_circle_radius in meters

Definition at line 58 of file navigation.h.

FAILSAFE_MODE_DISTANCE

#define FAILSAFE_MODE_DISTANCE   (1.2*MAX_DIST_FROM_HOME)

Maximum distance from HOME waypoint before going into failsafe mode.

Definition at line 68 of file navigation.h.

GetAltRef

#define GetAltRef

(

)

(stateGetHmslOrigin_f())

Get current altitude reference for local coordinates.

This is the ground_alt from the flight plan at first, but might be updated later through a call to NavSetGroundReferenceHere() or NavSetAltitudeReferenceHere(), e.g. in the GeoInit flight plan block.

Definition at line 147 of file navigation.h.

GetPosAlt

#define GetPosAlt

(

)

(stateGetPositionEnu_f()->z+stateGetHmslOrigin_f())

Get current altitude above MSL.

Definition at line 138 of file navigation.h.

GetPosHeight

#define GetPosHeight

(

)

(stateGetPositionEnu_f()->z)

Get current height above reference.

Definition at line 140 of file navigation.h.

GetPosX

#define GetPosX

(

)

(stateGetPositionEnu_f()->x)

Get current x (east) position in local coordinates.

Definition at line 134 of file navigation.h.

GetPosY

#define GetPosY

(

)

(stateGetPositionEnu_f()->y)

Get current y (north) position in local coordinates.

Definition at line 136 of file navigation.h.

NAV_MODE_CIRCLE

#define NAV_MODE_CIRCLE   2

Definition at line 74 of file navigation.h.

NAV_MODE_HEADING

#define NAV_MODE_HEADING   3

Definition at line 75 of file navigation.h.

NAV_MODE_MANUAL

#define NAV_MODE_MANUAL   4

Definition at line 76 of file navigation.h.

NAV_MODE_ROUTE

#define NAV_MODE_ROUTE   1

Definition at line 73 of file navigation.h.

NAV_MODE_WAYPOINT

#define NAV_MODE_WAYPOINT   0

Nav modes.

Definition at line 72 of file navigation.h.

NavAttitude

#define NavAttitude

(

_roll

)

Value:

  {  \
  nav.mode = NAV_MODE_MANUAL; \
  nav.turn = _roll;           \
  BoundAbs(nav.turn, 1.f);    \
}

Definition at line 220 of file navigation.h.

NavCheckWaypointTime

#define NavCheckWaypointTime	(		wp,
			time
	)		nav_check_wp_time(&waypoints[wp].enu_f, time)

Definition at line 212 of file navigation.h.

NavCopyWaypoint

#define NavCopyWaypoint   waypoint_copy

Definition at line 206 of file navigation.h.

NavCopyWaypointPositionOnly

#define NavCopyWaypointPositionOnly   waypoint_position_copy

Definition at line 207 of file navigation.h.

NavFollow

#define NavFollow   nav_follow(_id, _dist, _height) {}

Definition at line 312 of file navigation.h.

NavGlide

#define NavGlide	(		_start_wp,
			_wp
	)		{}

Unused compat macros.

Definition at line 318 of file navigation.h.

NavHeading

#define NavHeading   nav_set_heading_rad

Set the heading of the rover, nothing else.

Definition at line 233 of file navigation.h.

NAVIGATION_FREQUENCY

#define NAVIGATION_FREQUENCY   20

default navigation frequency

Definition at line 51 of file navigation.h.

navigation_IncreaseShift

#define navigation_IncreaseShift

(

x

)

{ if (x==0) nav.shift = 0; else nav.shift += x; }

Settings handlers.

Definition at line 306 of file navigation.h.

navigation_SetNavRadius

#define navigation_SetNavRadius

(

x

)

{ if (x==1) nav.radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav.radius = -DEFAULT_CIRCLE_RADIUS; else nav.radius = x; }

Definition at line 308 of file navigation.h.

NavSetAltitudeReferenceHere

#define NavSetAltitudeReferenceHere   nav_reset_alt

Definition at line 203 of file navigation.h.

NavSetFailsafe

#define NavSetFailsafe   nav_set_failsafe

Definition at line 200 of file navigation.h.

NavSetGroundReferenceHere

#define NavSetGroundReferenceHere   nav_reset_reference

Definition at line 202 of file navigation.h.

NavSetMaxSpeed

#define NavSetMaxSpeed

(

_speed

)

{}

Definition at line 235 of file navigation.h.

NavSetWaypointHere

#define NavSetWaypointHere   waypoint_set_here_2d

Definition at line 205 of file navigation.h.

NavVerticalAltitudeMode

#define NavVerticalAltitudeMode	(		_alt,
			_pre_climb
	)		{}

Definition at line 321 of file navigation.h.

NavVerticalAutoPitchMode

#define NavVerticalAutoPitchMode

(

_throttle

)

{}

Definition at line 320 of file navigation.h.

NavVerticalAutoThrottleMode

#define NavVerticalAutoThrottleMode

(

_pitch

)

{}

Definition at line 319 of file navigation.h.

NavVerticalClimbMode

#define NavVerticalClimbMode

(

_climb

)

{}

Definition at line 322 of file navigation.h.

NavVerticalThrottleMode

#define NavVerticalThrottleMode

(

_speed

)

Value:

  { \
  nav.speed = _speed;                     \
  BoundAbs(nav.speed, 1.f);               \
}

Definition at line 227 of file navigation.h.

NormCourse

#define NormCourse

(

x

)

Value:

    { \
    while (x < 0) x += 360; \
    while (x >= 360) x -= 360; \
  }

Normalize a degree angle between 0 and 359.

Definition at line 151 of file navigation.h.

NormCourseRad

#define NormCourseRad

(

x

)

Value:

    { \
    while (x < 0) x += 2*M_PI; \
    while (x >= 2*M_PI) x -= 2*M_PI; \
  }

Normalize a rad angle between 0 and 2*PI.

Definition at line 156 of file navigation.h.

Typedef Documentation

nav_rover_approaching

typedef bool(* nav_rover_approaching) (struct EnuCoor_f *wp_to, struct EnuCoor_f *wp_from, float approaching_time)

Definition at line 80 of file navigation.h.

nav_rover_circle

typedef void(* nav_rover_circle) (struct EnuCoor_f *wp_center, float radius)

Definition at line 81 of file navigation.h.

nav_rover_goto

typedef void(* nav_rover_goto) (struct EnuCoor_f *wp)

Definition at line 78 of file navigation.h.

nav_rover_oval

typedef void(* nav_rover_oval) (struct EnuCoor_f *wp1, struct EnuCoor_f *wp2, float radius)

Definition at line 83 of file navigation.h.

nav_rover_oval_init

typedef void(* nav_rover_oval_init) (void)

Definition at line 82 of file navigation.h.

nav_rover_route

typedef void(* nav_rover_route) (struct EnuCoor_f *wp_start, struct EnuCoor_f *wp_end)

Definition at line 79 of file navigation.h.

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.

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Updates dist2_to_home and potentially sets too_far_from_home

Definition at line 326 of file navigation.c.

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_check_wp_time()

bool nav_check_wp_time	(	struct EnuCoor_f *	wp,
		float	stay_time
	)

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

Definition at line 135 of file navigation.c.

nav_home()

void nav_home

(

void

)

Home mode navigation (circle around HOME)

Home mode navigation (circle around HOME)

Nominal speed

Nominal speed

Nominal speed

Definition at line 424 of file nav.c.

References autopilot, compute_dist2_to_home(), dist2_to_home, dist2_to_wp, FAILSAFE_HOME_RADIUS, ground_alt, RotorcraftNavigation::horizontal_mode, pprz_autopilot::launch, nav, nav_altitude, RotorcraftNavigation::nav_altitude, NAV_HORIZONTAL_MODE_WAYPOINT, NAV_MODE_WAYPOINT, nav_pitch, nav_run(), nav_set_altitude(), NAV_SETPOINT_MODE_POS, NAV_VERTICAL_MODE_ALT, NavCircleWaypoint, RotorcraftNavigation::setpoint_mode, RotorcraftNavigation::target, v_ctl_mode, V_CTL_MODE_AUTO_ALT, V_CTL_MODE_AUTO_THROTTLE, v_ctl_throttle_setpoint, VECT3_COPY, RotorcraftNavigation::vertical_mode, waypoint_get_alt(), and waypoints.

Referenced by autopilot_static_periodic(), and navigation_task().

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nav_init()

void nav_init

(

void

)

Navigation Initialisation.

Definition at line 532 of file nav.c.

References RotorcraftNavigation::accel, RotorcraftNavigation::carrot, RotorcraftNavigation::climb, RotorcraftNavigation::climb_vspeed, common_flight_plan_init(), DEFAULT_CIRCLE_RADIUS, DefaultPeriodic, 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, fp_climb, RotorcraftNavigation::fp_max_speed, fp_pitch, fp_throttle, ground_alt, RotorcraftNavigation::heading, RotorcraftNavigation::horizontal_mode, nav, RotorcraftNavigation::nav_altitude, RotorcraftNavigation::nav_approaching, RotorcraftNavigation::nav_circle, NAV_CLIMB_VSPEED, NAV_DESCEND_VSPEED, nav_glide_pitch_trim, NAV_GLIDE_PITCH_TRIM, RotorcraftNavigation::nav_goto, nav_ground_speed_pgain, nav_ground_speed_setpoint, NAV_HORIZONTAL_MODE_WAYPOINT, nav_mode, NAV_MODE_COURSE, NAV_MODE_WAYPOINT, RotorcraftNavigation::nav_oval, RotorcraftNavigation::nav_oval_init, nav_radius, RotorcraftNavigation::nav_route, NAV_SETPOINT_MODE_POS, RotorcraftNavigation::nav_stage_init, nav_survey_shift, NAV_VERTICAL_MODE_ALT, RotorcraftNavigation::pitch, RotorcraftNavigation::quat, RotorcraftNavigation::radius, RotorcraftNavigation::rates, register_periodic_telemetry(), RotorcraftNavigation::roll, send_circle(), send_nav(), send_nav_ref(), send_segment(), send_survey(), send_wp_moved(), 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_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_oval_init()

static void nav_oval_init ( void  )

inlinestatic

Definition at line 289 of file navigation.h.

References nav, and RotorcraftNavigation::nav_oval_init.

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 445 of file nav.c.

References block_time, circle_bank, compute_dist2_to_home(), dist2_to_wp, h_ctl_course_pre_bank, nav_in_circle, nav_run(), nav_set_altitude(), nav_survey_active, NAVIGATION_FREQUENCY, stage_time, V_CTL_AUTO_THROTTLE_STANDARD, v_ctl_auto_throttle_submode, v_ctl_mode, and V_CTL_MODE_AUTO_CLIMB.

Referenced by autopilot_static_periodic(), and navigation_task().

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nav_register_circle()

void nav_register_circle

(

nav_rover_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	(	nav_rover_goto	nav_goto,
		nav_rover_route	nav_route,
		nav_rover_approaching	nav_approaching
	)

Registering functions.

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	(	nav_rover_oval_init	nav_oval_init,
		nav_rover_oval	nav_oval
	)

Definition at line 404 of file navigation.c.

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

Referenced by nav_rotorcraft_init(), and nav_rover_init().

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nav_reset_alt()

void nav_reset_alt

(

void

)

Reset the altitude reference to the current GPS alt.

Definition at line 241 of file navigation.c.

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.

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_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

)

heading utility functions

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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nav_set_manual()

void nav_set_manual	(	float	speed,
		float	turn
	)

NavApproaching()

static bool NavApproaching ( uint8_t  wp, float  approaching_time  )

inlinestatic

Definition at line 259 of file navigation.h.

References nav, RotorcraftNavigation::nav_approaching, and waypoints.

NavApproachingFrom()

static bool NavApproachingFrom ( uint8_t  to, uint8_t  from, float  approaching_time  )

inlinestatic

Definition at line 269 of file navigation.h.

References nav, RotorcraftNavigation::nav_approaching, and waypoints.

NavCircleWaypoint()

static void NavCircleWaypoint ( uint8_t  wp_center, float  radius  )

inlinestatic

Definition at line 280 of file navigation.h.

References nav, RotorcraftNavigation::nav_circle, NAV_MODE_CIRCLE, RoverNavigation::radius, and waypoints.

NavGotoWaypoint()

static void NavGotoWaypoint ( uint8_t  wp )

inlinestatic

Definition at line 243 of file navigation.h.

References nav, NAV_MODE_WAYPOINT, RotorcraftNavigation::target, VECT3_COPY, and waypoints.

NavKillThrottle()

static void NavKillThrottle ( void  )

inlinestatic

Definition at line 191 of file navigation.h.

References AP_MODE_NAV, autopilot_get_mode(), and autopilot_set_motors_on().

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NavResurrect()

static void NavResurrect ( void  )

inlinestatic

Definition at line 195 of file navigation.h.

References AP_MODE_NAV, autopilot_get_mode(), and autopilot_set_motors_on().

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NavSegment()

static void NavSegment ( uint8_t  wp_start, uint8_t  wp_end  )

inlinestatic

Definition at line 251 of file navigation.h.

References nav, NAV_MODE_ROUTE, RotorcraftNavigation::nav_route, and waypoints.

Oval()

static void Oval ( uint8_t  wp1, uint8_t  wp2, float  radius  )

inlinestatic

Definition at line 296 of file navigation.h.

References nav, RotorcraftNavigation::nav_oval, RoverNavigation::radius, and waypoints.

set_exception_flag()

void set_exception_flag

(

uint8_t

flag_num

)

Definition at line 57 of file navigation.c.

References nav.

Variable Documentation

nav

struct RoverNavigation nav

extern

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().