Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
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nav_drop.h File Reference

Navigation module to drop a ball at a given point taking into account the wind and ground speed. More...

#include "std.h"
#include "firmwares/fixedwing/nav.h"
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Go to the source code of this file.


#define NavDropComputeApproach(_target, _start, _radius)   nav_drop_compute_approach(_target, _start, _radius)
#define NavDropUpdateRelease(_wp)   nav_drop_update_release(_wp)
#define NavDropShoot()   nav_drop_shoot()
#define NavDropCloseHatch()   ({ imcu_set_command(COMMAND_HATCH, MIN_PPRZ); })
#define NavDropAligned()   Qdr(DegOfRad(nav_drop_qdr_aligned))


unit_t nav_drop_compute_approach (uint8_t wp_target, uint8_t wp_start, uint8_t wp_baseturn, uint8_t wp_climbout, float radius)
unit_t nav_drop_update_release (uint8_t wp_target)
unit_t nav_drop_shoot (void)
bool compute_alignment (uint8_t w1, uint8_t w2, uint8_t start, uint8_t end, float d_before, float d_after)


float nav_drop_trigger_delay
float nav_drop_start_qdr

Detailed Description

Navigation module to drop a ball at a given point taking into account the wind and ground speed.

Definition in file nav_drop.h.

Macro Definition Documentation

#define NavDropAligned ( )    Qdr(DegOfRad(nav_drop_qdr_aligned))

Definition at line 46 of file nav_drop.h.

#define NavDropCloseHatch ( )    ({ imcu_set_command(COMMAND_HATCH, MIN_PPRZ); })

Definition at line 45 of file nav_drop.h.

#define NavDropComputeApproach (   _target,
)    nav_drop_compute_approach(_target, _start, _radius)

Definition at line 42 of file nav_drop.h.

#define NavDropShoot ( )    nav_drop_shoot()

Definition at line 44 of file nav_drop.h.

#define NavDropUpdateRelease (   _wp)    nav_drop_update_release(_wp)

Definition at line 43 of file nav_drop.h.

Function Documentation

bool compute_alignment ( uint8_t  w1,
uint8_t  w2,
uint8_t  start,
uint8_t  end,
float  d_before,
float  d_after 
unit_t nav_drop_compute_approach ( uint8_t  wp_target,
uint8_t  wp_start,
uint8_t  wp_baseturn,
uint8_t  wp_climbout,
float  radius 
unit_t nav_drop_shoot ( void  )
unit_t nav_drop_update_release ( uint8_t  wp_target)

Variable Documentation

float nav_drop_start_qdr
float nav_drop_trigger_delay