Fixedwing Navigation library. More...

#include "std.h"
#include "paparazzi.h"
#include "state.h"
#include "subsystems/navigation/nav_survey_rectangle.h"
#include "subsystems/navigation/common_flight_plan.h"
#include "subsystems/navigation/common_nav.h"

Include dependency graph for nav.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros
#define	NAV_GRAVITY 9.806

#define	Square(_x) ((_x)*(_x))

#define	DistanceSquare(p1_x, p1_y, p2_x, p2_y) (Square(p1_x-p2_x)+Square(p1_y-p2_y))

#define	PowerVoltage() (vsupply/10.)

#define	RcRoll(travel) (imcu_get_radio(RADIO_ROLL) * (float)travel /(float)MAX_PPRZ)

#define	NAV_MODE_ROLL 1

#define	NAV_MODE_COURSE 2

#define	HORIZONTAL_MODE_WAYPOINT 0

#define	HORIZONTAL_MODE_ROUTE 1

#define	HORIZONTAL_MODE_CIRCLE 2

#define	NavGotoWaypoint(_wp)

#define	Eight(a, b, c) nav_eight((a), (b), (c))

#define	Oval(a, b, c) nav_oval((b), (a), (c))

#define	RCLost() bit_is_set(imcu_get_status(), STATUS_RADIO_REALLY_LOST)

#define	NavFollow(_ac_id, _distance, _height) nav_follow(_ac_id, _distance, _height)

#define	NavGlide(_start_wp, _wp) nav_glide(_start_wp, _wp)

#define	NavCircleWaypoint(wp, radius) nav_circle_XY(waypoints[wp].x, waypoints[wp].y, radius)

#define	NormCourse(x)
	Normalize a degree angle between 0 and 359. More...

#define	NavCircleCountNoRewind() (nav_circle_radians_no_rewind / (2*M_PI))

#define	NavCircleCount() (fabs(nav_circle_radians) / (2*M_PI))

#define	NavCircleQdr() ({ float qdr = DegOfRad(M_PI_2 - nav_circle_trigo_qdr); NormCourse(qdr); qdr; })

#define	CloseDegAngles(_c1, _c2) ({ float _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff \|\| _diff < 10; })

#define	NavQdrCloseTo(x) CloseDegAngles(x, NavCircleQdr())
	True if x (in degrees) is close to the current QDR (less than 10 degrees) More...

#define	NavCourseCloseTo(x) CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))

#define	NavSegment(_start, _end) nav_route_xy(waypoints[_start].x, waypoints[_start].y, waypoints[_end].x, waypoints[_end].y)

#define	NavApproaching(wp, time) nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, last_x, last_y, time)

#define	NavApproachingFrom(wp, from, time) nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, waypoints[from].x, waypoints[from].y, time)

#define	NavVerticalAutoThrottleMode(_pitch)
	Set the climb control to auto-throttle with the specified pitch pre-command. More...

#define	NavVerticalAutoPitchMode(_throttle)
	Set the climb control to auto-pitch with the specified throttle pre-command. More...

#define	NavVerticalAltitudeMode(_alt, _pre_climb)
	Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command. More...

#define	NavVerticalClimbMode(_climb)
	Set the vertical mode to climb control with the specified climb setpoint. More...

#define	NavVerticalThrottleMode(_throttle)
	Set the vertical mode to fixed throttle with the specified setpoint. More...

#define	NavHeading(_course)

#define	NavAttitude(_roll)

#define	NavSetManual(_roll, _pitch, _yaw) _Pragma("GCC error \"Manual mode in flight plan for fixedwing is not available\"")

#define	nav_IncreaseShift(x) { if (x==0) nav_shift = 0; else nav_shift += x; }

#define	nav_SetNavRadius(x) { if (x==1) nav_radius = DEFAULT_CIRCLE_RADIUS; else if (x==-1) nav_radius = -DEFAULT_CIRCLE_RADIUS; else nav_radius = x; }

#define	NavKillThrottle() { kill_throttle = 1; }

#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() (stateGetPositionUtm_f()->alt)
	Get current altitude above MSL. More...

#define	GetAltRef() (ground_alt)
	Get current altitude reference for local coordinates. More...

#define	SEND_NAVIGATION(_trans, _dev)

#define	DownlinkSendWp(_trans, _dev, i)

Enumerations
enum	oval_status { OR12, OC2, OR21, OC1, OR12, OC2, OR21, OC1 }

Functions
void	fly_to_xy (float x, float y)
	Computes desired_x, desired_y and desired_course. More...

void	nav_eight_init (void)

void	nav_eight (uint8_t, uint8_t, float)
	Navigation along a figure 8. More...

void	nav_oval_init (void)

void	nav_oval (uint8_t, uint8_t, float)

void	nav_periodic_task (void)
	Navigation main: call to the code generated from the XML flight plan. More...

void	nav_home (void)
	Home mode navigation (circle around HOME) More...

void	nav_init (void)
	Navigation Initialisation. More...

void	nav_without_gps (void)
	Failsafe navigation without position estimation. More...

void	nav_circle_XY (float x, float y, float radius)
	Angle from center to mobile. More...

bool	nav_compute_baseleg (uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius)

bool	nav_compute_final_from_glide (uint8_t wp_af, uint8_t wp_td, float glide)

void	nav_follow (uint8_t _ac_id, float _distance, float _height)

void	nav_glide (uint8_t start_wp, uint8_t wp)

void	nav_route_xy (float last_wp_x, float last_wp_y, float wp_x, float wp_y)
	Computes the carrot position along the desired segment. More...

bool	nav_approaching_xy (float x, float y, float from_x, float from_y, float approaching_time)
	Decide if the UAV is approaching the current waypoint. More...

bool	DownlinkSendWpNr (uint8_t _wp)

Variables
float	cur_pos_x

float	cur_pos_y

float	last_x

float	last_y

float	desired_x

float	desired_y

float	nav_altitude

float	flight_altitude
	Dynamically adjustable, reset to nav_altitude when it is changing. More...

float	nav_glide_pitch_trim

pprz_t	nav_throttle_setpoint

float	nav_pitch

float	rc_pitch

float	fp_pitch

float	fp_throttle

float	fp_climb

float	carrot_x

float	carrot_y

float	nav_circle_radians
	Status on the current circle. More...

float	nav_circle_radians_no_rewind

bool	nav_in_circle

bool	nav_in_segment

float	nav_circle_x

float	nav_circle_y

float	nav_circle_radius

float	nav_segment_x_1

float	nav_segment_y_1

float	nav_segment_x_2

float	nav_segment_y_2

uint8_t	last_wp
	Index of last waypoint. More...

int	nav_mode

uint8_t	horizontal_mode

uint8_t	nav_oval_count
	Navigation along a figure O. More...

float	nav_radius

float	nav_course

float	nav_climb

float	nav_shift

float	nav_ground_speed_pgain

float	nav_ground_speed_setpoint

float	nav_survey_shift

float	nav_survey_west

float	nav_survey_east

float	nav_survey_north

float	nav_survey_south

bool	nav_survey_active

float	nav_circle_trigo_qdr

float	baseleg_out_qdr

Detailed Description

Fixedwing Navigation library.

This collection of macros and functions is used by the C code generated from the XML flight plan.

Definition in file nav.h.

Macro Definition Documentation

#define CloseDegAngles	(	_c1,
		_c2
	)	({ float _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff \|\| _diff < 10; })

Definition at line 151 of file nav.h.

#define DistanceSquare	(	p1_x,
		p1_y,
		p2_x,
		p2_y
	)	(Square(p1_x-p2_x)+Square(p1_y-p2_y))

Definition at line 46 of file nav.h.

Referenced by nav_circle_XY().

#define DownlinkSendWp	(	_trans,
		_dev,
		i
	)

Value:

{    \
    float x = nav_utm_east0 +  waypoints[i].x; \
    float y = nav_utm_north0 + waypoints[i].y; \
    pprz_msg_send_WP_MOVED(_trans, _dev, AC_ID, &i, &x, &y, &(waypoints[i].a),&nav_utm_zone0); \
  }

Definition at line 247 of file nav.h.

Referenced by DownlinkSendWpNr(), nav_catapult_run(), and send_wp_moved().

#define Eight	(	a,
		b,
		c
	)	nav_eight((a), (b), (c))

Definition at line 98 of file nav.h.

#define GetAltRef ( ) (ground_alt)

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 234 of file nav.h.

#define GetPosAlt ( ) (stateGetPositionUtm_f()->alt)

Get current altitude above MSL.

Definition at line 227 of file nav.h.

Referenced by max7456_periodic().

#define GetPosX ( ) (stateGetPositionEnu_f()->x)

Get current x (east) position in local coordinates.

Definition at line 223 of file nav.h.

#define GetPosY ( ) (stateGetPositionEnu_f()->y)

Get current y (north) position in local coordinates.

Definition at line 225 of file nav.h.

#define HORIZONTAL_MODE_CIRCLE 2

Definition at line 86 of file nav.h.

Referenced by mission_nav_circle(), nav_circle(), nav_circle_XY(), and send_nav_status().

#define HORIZONTAL_MODE_ROUTE 1

Definition at line 85 of file nav.h.

Referenced by mission_nav_path(), mission_nav_segment(), nav_route(), nav_route_xy(), nav_survey_poly_run(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), and send_nav_status().

#define HORIZONTAL_MODE_WAYPOINT 0

Definition at line 84 of file nav.h.

Referenced by mission_nav_wp(), nav_home(), and nav_init().

#define NAV_GRAVITY 9.806

Definition at line 44 of file nav.h.

Referenced by nav_circle_XY().

#define nav_IncreaseShift ( x ) { if (x==0) nav_shift = 0; else nav_shift += x; }

Definition at line 216 of file nav.h.

#define NAV_MODE_COURSE 2

Definition at line 80 of file nav.h.

Referenced by fly_to_xy(), nav_circle_XY(), and nav_init().

#define NAV_MODE_ROLL 1

Definition at line 79 of file nav.h.

#define nav_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 218 of file nav.h.

#define NavApproaching	(	wp,
		time
	)	nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, last_x, last_y, time)

Definition at line 164 of file nav.h.

Referenced by nav_anemotaxis().

#define NavApproachingFrom	(	wp,
		from,
		time
	)	nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, waypoints[from].x, waypoints[from].y, time)

Definition at line 165 of file nav.h.

Referenced by nav_line_border_run(), nav_line_run(), and nav_vertical_raster_run().

#define NavAttitude ( _roll )

Value:

{ \
    lateral_mode = LATERAL_MODE_ROLL; \
    if(pprz_mode != PPRZ_MODE_AUTO1)  \
    {h_ctl_roll_setpoint = _roll;} \
  }

Definition at line 207 of file nav.h.

Referenced by nav_catapult_run(), and nav_launcher_run().

#define NavCircleCount ( ) (fabs(nav_circle_radians) / (2*M_PI))

Definition at line 148 of file nav.h.

Referenced by nav_line_osam_run(), nav_skid_landing_run(), and nav_survey_poly_osam_run().

#define NavCircleCountNoRewind ( ) (nav_circle_radians_no_rewind / (2*M_PI))

Definition at line 147 of file nav.h.

Referenced by nav_survey_poly_osam_run().

#define NavCircleQdr ( ) ({ float qdr = DegOfRad(M_PI_2 - nav_circle_trigo_qdr); NormCourse(qdr); qdr; })

Definition at line 149 of file nav.h.

#define NavCircleWaypoint	(	wp,
		radius
	)	nav_circle_XY(waypoints[wp].x, waypoints[wp].y, radius)

Definition at line 137 of file nav.h.

Referenced by nav_anemotaxis(), nav_chemotaxis(), nav_eight(), nav_home(), nav_survey_losange_carto(), and nav_survey_rectangle().

#define NavCourseCloseTo ( x ) CloseDegAngles(x, DegOfRad(stateGetHorizontalSpeedDir_f()))

Definition at line 156 of file nav.h.

Referenced by nav_survey_polygon_run(), nav_survey_rectangle(), and nav_survey_zamboni_run().

#define NavFollow	(	_ac_id,
		_distance,
		_height
	)	nav_follow(_ac_id, _distance, _height)

Definition at line 132 of file nav.h.

#define NavGlide	(	_start_wp,
		_wp
	)	nav_glide(_start_wp, _wp)

Definition at line 135 of file nav.h.

#define NavGotoWaypoint ( _wp )

Value:

{ \
    horizontal_mode = HORIZONTAL_MODE_WAYPOINT; \
    fly_to_xy(waypoints[_wp].x, waypoints[_wp].y); \
  }

Definition at line 90 of file nav.h.

Referenced by nav_catapult_run().

#define NavHeading ( _course )

Value:

{ \
    lateral_mode = LATERAL_MODE_COURSE; \
    h_ctl_course_setpoint = _course; \
  }

Definition at line 202 of file nav.h.

#define NavKillThrottle ( ) { kill_throttle = 1; }

Definition at line 220 of file nav.h.

#define NavQdrCloseTo ( x ) CloseDegAngles(x, NavCircleQdr())

True if x (in degrees) is close to the current QDR (less than 10 degrees)

Definition at line 154 of file nav.h.

Referenced by nav_anemotaxis(), nav_eight(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_oval(), nav_skid_landing_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_vertical_raster_run(), snav_circle1(), and snav_circle2().

#define NavSegment	(	_start,
		_end
	)	nav_route_xy(waypoints[_start].x, waypoints[_start].y, waypoints[_end].x, waypoints[_end].y)

Definition at line 160 of file nav.h.

Referenced by gls_run(), nav_anemotaxis(), nav_line_border_run(), nav_line_run(), and nav_vertical_raster_run().

#define NavSetManual	(	_roll,
		_pitch,
		_yaw
	)	_Pragma("GCC error \"Manual mode in flight plan for fixedwing is not available\"")

Definition at line 213 of file nav.h.

#define NavVerticalAltitudeMode	(	_alt,
		_pre_climb
	)

Value:

{ \
    v_ctl_mode = V_CTL_MODE_AUTO_ALT; \
    nav_altitude = _alt; \
    v_ctl_altitude_pre_climb = _pre_climb; \
  }

Set the vertical mode to altitude control with the specified altitude setpoint and climb pre-command.

Definition at line 184 of file nav.h.

Referenced by gls_run(), mission_nav_circle(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_catapult_run(), nav_flower_run(), nav_glide(), nav_launcher_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_skid_landing_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_poly_setup(), nav_survey_polygon_run(), nav_survey_polygon_setup(), nav_survey_rectangle(), nav_survey_rectangle_rotorcraft_setup(), nav_survey_zamboni_run(), nav_survey_zamboni_setup(), nav_vertical_raster_run(), snav_circle1(), snav_circle2(), snav_on_time(), and snav_route().

#define NavVerticalAutoPitchMode ( _throttle )

Value:

{ \
    v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_PITCH; \
    nav_throttle_setpoint = _throttle; \
  }

Set the climb control to auto-pitch with the specified throttle pre-command.

Definition at line 177 of file nav.h.

#define NavVerticalAutoThrottleMode ( _pitch )

Value:

{ \
    v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE; \
    nav_pitch = _pitch; \
  }

Set the climb control to auto-throttle with the specified pitch pre-command.

Definition at line 170 of file nav.h.

Referenced by formation_flight(), gls_run(), mission_nav_circle(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_bungee_takeoff_run(), nav_catapult_run(), nav_flower_run(), nav_launcher_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_skid_landing_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_polygon_setup(), nav_survey_rectangle(), nav_survey_zamboni_run(), nav_survey_zamboni_setup(), nav_vertical_raster_run(), potential_task(), snav_circle1(), snav_circle2(), snav_on_time(), and snav_route().

#define NavVerticalClimbMode ( _climb )

Value:

{ \
    v_ctl_mode = V_CTL_MODE_AUTO_CLIMB; \
    v_ctl_climb_setpoint = _climb; \
  }

Set the vertical mode to climb control with the specified climb setpoint.

Definition at line 191 of file nav.h.

Referenced by potential_task().

#define NavVerticalThrottleMode ( _throttle )

Value:

{ \
    v_ctl_mode = V_CTL_MODE_AUTO_THROTTLE; \
    nav_throttle_setpoint = _throttle; \
  }

Set the vertical mode to fixed throttle with the specified setpoint.

Definition at line 197 of file nav.h.

Referenced by nav_bungee_takeoff_run(), nav_catapult_highrate_module(), nav_catapult_run(), and nav_launcher_run().

#define NormCourse ( x )

Value:

{ \
    uint8_t dont_loop_forever = 0;  \
    while (x < 0 && ++dont_loop_forever) x += 360; \
    while (x >= 360 && ++dont_loop_forever) x -= 360; \
  }

Normalize a degree angle between 0 and 359.

Definition at line 141 of file nav.h.

#define Oval	(	a,
		b,
		c
	)	nav_oval((b), (a), (c))

Definition at line 103 of file nav.h.

#define PowerVoltage ( ) (vsupply/10.)

Definition at line 48 of file nav.h.

#define RCLost ( ) bit_is_set(imcu_get_status(), STATUS_RADIO_REALLY_LOST)

Definition at line 129 of file nav.h.

#define RcRoll ( travel ) (imcu_get_radio(RADIO_ROLL) * (float)travel /(float)MAX_PPRZ)

Definition at line 49 of file nav.h.

#define SEND_NAVIGATION	(	_trans,
		_dev
	)

Value:

{ \
    uint8_t _circle_count = NavCircleCount(); \
    struct EnuCoor_f* pos = stateGetPositionEnu_f(); \
    float dist_wp = sqrtf(dist2_to_wp); \
    float dist_home = sqrtf(dist2_to_home); \
    pprz_msg_send_NAVIGATION(_trans, _dev, AC_ID, &nav_block, &nav_stage, &(pos->x), &(pos->y), &dist_wp, &dist_home, &_circle_count, &nav_oval_count); \
  }

Definition at line 237 of file nav.h.

Referenced by firmware_parse_msg(), navigation_task(), and send_nav().

#define Square ( _x ) ((_x)*(_x))

Definition at line 45 of file nav.h.

Referenced by monitor_task(), and nav_circle_XY().

Enumeration Type Documentation

enum oval_status

Enumerator
OR12
OC2
OR21
OC1
OR12
OC2
OR21
OC1

Definition at line 52 of file nav.h.

Function Documentation

bool DownlinkSendWpNr ( uint8_t _wp )

Definition at line 488 of file nav.c.

References DefaultChannel, DefaultDevice, and DownlinkSendWp.

void fly_to_xy	(	float	x,
		float	y
	)

Computes desired_x, desired_y and desired_course.

Definition at line 360 of file nav.c.

References CARROT, h_ctl_course_pgain, h_ctl_course_setpoint, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_COURSE, LATERAL_MODE_ROLL, NAV_MODE_COURSE, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by formation_flight(), mission_nav_wp(), nav_circle_XY(), nav_route_xy(), and potential_task().

Here is the call graph for this function:

Here is the caller graph for this function:

bool nav_approaching_xy	(	float	x,
		float	y,
		float	from_x,
		float	from_y,
		float	approaching_time
	)

Decide if the UAV is approaching the current waypoint.

Computes dist2_to_wp and compare it to square carrot. Return true if it is smaller. Else computes by scalar products if uav has not gone past waypoint. approaching_time can be negative and in this case, the UAV will fly after the waypoint for the given number of seconds.

Returns: true if the position (x, y) is reached

distance to waypoint in x

distance to waypoint in y

Definition at line 328 of file nav.c.

References dist2_to_wp, Max, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_path(), mission_nav_segment(), mission_nav_wp(), nav_catapult_run(), nav_eight(), nav_line_osam_run(), nav_oval(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), and snav_route().

Here is the call graph for this function:

Here is the caller graph for this function:

void nav_circle_XY	(	float	x,
		float	y,
		float	radius
	)

Angle from center to mobile.

Clockwise iff radius > 0

Computes a prebank. Go straight if inside or outside the circle

Definition at line 109 of file nav.c.

References CARROT, DistanceSquare, fly_to_xy(), HORIZONTAL_MODE_CIRCLE, Max, Min, nav_circle_trigo_qdr, NAV_GRAVITY, NAV_MODE_COURSE, nav_shift, radius, Square, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_circle(), nav_eight(), nav_flower_run(), nav_launcher_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_oval(), nav_skid_landing_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), nav_vertical_raster_run(), snav_circle1(), snav_circle2(), and snav_on_time().

Here is the call graph for this function:

Here is the caller graph for this function:

bool nav_compute_baseleg	(	uint8_t	wp_af,
		uint8_t	wp_td,
		uint8_t	wp_baseleg,
		float	radius
	)

Definition at line 218 of file nav.c.

References point::a, nav_radius, radius, waypoints, point::x, and point::y.

bool nav_compute_final_from_glide	(	uint8_t	wp_af,
		uint8_t	wp_td,
		float	glide
	)

Definition at line 241 of file nav.c.

References point::a, waypoints, point::x, and point::y.

void nav_eight	(	uint8_t	target,
		uint8_t	c1,
		float	radius
	)

Navigation along a figure 8.

The cross center is defined by the waypoint [target], the center of one of the circles is defined by [c1]. Altitude is given by [target]. The navigation goes through 6 states: C1 (circle around [c1]), R1T, RT2 (route from circle 1 to circle 2 over [target]), C2 and R2T, RT1. If necessary, the [c1] waypoint is moved in the direction of [target] to be not far than [2*radius].

Definition at line 594 of file nav.c.

References point::a, c1, C1, C2, CARROT, InitStage, Max, nav_approaching_xy(), nav_circle_XY(), nav_route_xy(), NavCircleWaypoint, NavQdrCloseTo, R1T, R2T, RT1, RT2, target, waypoints, point::x, and point::y.

Here is the call graph for this function:

void nav_eight_init ( void )

Definition at line 581 of file nav.c.

References C1.

void nav_follow	(	uint8_t	_ac_id,
		float	_distance,
		float	_height
	)

Definition at line 305 of file nav.c.

void nav_glide	(	uint8_t	start_wp,
		uint8_t	wp
	)

Definition at line 158 of file nav.c.

References point::a, nav_leg_length, NavVerticalAltitudeMode, stateGetHorizontalSpeedNorm_f(), and waypoints.

Here is the call graph for this function:

void nav_home ( void )

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 427 of file nav.c.

void nav_init ( void )

Navigation Initialisation.

Definition at line 523 of file nav.c.

void nav_oval	(	uint8_t	,
		uint8_t	,
		float
	)

Definition at line 723 of file nav.c.

void nav_oval_init ( void )

Definition at line 717 of file nav.c.

void nav_periodic_task ( void )

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

Definition at line 443 of file nav.c.

void nav_route_xy	(	float	last_wp_x,
		float	last_wp_y,
		float	wp_x,
		float	wp_y
	)

Computes the carrot position along the desired segment.

distance of carrot (in meter)

Definition at line 386 of file nav.c.

References CARROT, fly_to_xy(), HORIZONTAL_MODE_ROUTE, Max, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by mission_nav_path(), mission_nav_segment(), nav_bungee_takeoff_run(), nav_eight(), nav_flower_run(), nav_launcher_run(), nav_line_osam_run(), nav_oval(), nav_points(), nav_skid_landing_run(), nav_spiral_run(), nav_survey_disc_run(), nav_survey_losange_carto(), nav_survey_poly_osam_run(), nav_survey_rectangle(), nav_survey_zamboni_run(), and snav_route().

Here is the call graph for this function:

Here is the caller graph for this function:

void nav_without_gps ( void )

Failsafe navigation without position estimation.

Just set attitude and throttle to FAILSAFE values to prevent the plane from crashing.

Definition at line 558 of file nav.c.

References h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_ROLL, MAX_PPRZ, TRIM_UPPRZ, v_ctl_mode, and V_CTL_MODE_AUTO_THROTTLE.

Referenced by navigation_task().

Here is the caller graph for this function:

Variable Documentation

float baseleg_out_qdr

Definition at line 217 of file nav.c.

float carrot_x

Definition at line 51 of file nav.c.

float carrot_y

Definition at line 51 of file nav.c.

float cur_pos_x

float cur_pos_y

float desired_x

Definition at line 311 of file nav.c.

Referenced by cam_segment_periodic(), formation_flight(), potential_task(), and send_desired().

float desired_y

Definition at line 311 of file nav.c.

Referenced by cam_segment_periodic(), formation_flight(), potential_task(), and send_desired().

float flight_altitude

Dynamically adjustable, reset to nav_altitude when it is changing.

Definition at line 75 of file nav.c.

float fp_climb

Definition at line 316 of file nav.c.

float fp_pitch

Definition at line 314 of file nav.c.

float fp_throttle

Definition at line 315 of file nav.c.

uint8_t horizontal_mode

Definition at line 71 of file nav.c.

uint8_t last_wp

Index of last waypoint.

Used only in "go" stage in "route" horiz mode

Definition at line 48 of file nav.c.

float last_x

Definition at line 45 of file nav.c.

Referenced by nav_survey_polygon_run().

float last_y

Definition at line 45 of file nav.c.

Referenced by nav_survey_polygon_run().

float nav_altitude

Definition at line 310 of file nav.c.

float nav_circle_radians

Status on the current circle.

Definition at line 54 of file nav.c.

float nav_circle_radians_no_rewind

Definition at line 55 of file nav.c.

float nav_circle_radius

Definition at line 69 of file nav.c.

float nav_circle_trigo_qdr

Definition at line 56 of file nav.c.

Referenced by nav_circle_XY().

float nav_circle_x

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic().

float nav_circle_y

Definition at line 69 of file nav.c.

Referenced by flight_benchmark_periodic().

float nav_climb

Definition at line 57 of file nav.c.

float nav_course

Definition at line 57 of file nav.c.

float nav_glide_pitch_trim

Definition at line 77 of file nav.c.

float nav_ground_speed_pgain

Definition at line 84 of file nav.c.

float nav_ground_speed_setpoint

Definition at line 84 of file nav.c.

bool nav_in_circle

Definition at line 67 of file nav.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_rotorcraft_run().

bool nav_in_segment

Definition at line 68 of file nav.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_rotorcraft_run().

int nav_mode

Definition at line 91 of file nav.c.

uint8_t nav_oval_count

Navigation along a figure O.

One side leg is defined by waypoints [p1] and [p2]. The navigation goes through 4 states: OC1 (half circle next to [p1]), OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 (opposite leg).

Initial state is the route along the desired segment (OC2).

Definition at line 715 of file nav.c.

float nav_pitch

Definition at line 313 of file nav.c.

float nav_radius

Definition at line 57 of file nav.c.

float nav_segment_x_1

Definition at line 70 of file nav.c.

Referenced by flight_benchmark_periodic().

float nav_segment_x_2

Definition at line 70 of file nav.c.

Referenced by flight_benchmark_periodic().