nav_smooth.h File Reference

Smooth navigation to wp_a along an arc (around wp_cd), a segment (from wp_rd to wp_ta) and a second arc (around wp_ca). More...

#include "std.h"

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Functions
bool	snav_init (uint8_t wp_a, float desired_course_rad, float radius)
bool	snav_circle1 (void)
bool	snav_route (void)
bool	snav_circle2 (void)
bool	snav_on_time (float radius)

Variables
float	snav_desired_tow

Detailed Description

Smooth navigation to wp_a along an arc (around wp_cd), a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).

Definition in file nav_smooth.h.

Function Documentation

bool snav_circle1

(

void

)

Definition at line 121 of file nav_smooth.c.

References d_radius, nav_circle_XY(), NavQdrCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, and qdr_td.

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bool snav_circle2

(

void

)

Definition at line 140 of file nav_smooth.c.

References a_radius, nav_circle_XY(), NavQdrCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, and qdr_a.

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bool snav_init	(	uint8_t	wp_a,
		float	desired_course_rad,
		float	radius
	)

Definition at line 49 of file nav_smooth.c.

References point::a, a_radius, alpha, d_radius, ground_speed_timer, qdr_a, qdr_td, radius, Sign, stateGetHorizontalSpeedDir_f(), stateGetPositionEnu_f(), u_a_ca_x, u_a_ca_y, WaypointAlt, WaypointX, WaypointY, wp_a, wp_ta, point::x, EnuCoor_f::x, point::y, and EnuCoor_f::y.

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bool snav_on_time

(

float

radius

)

Definition at line 179 of file nav_smooth.c.

References point::a, a_radius, ANGLE_STEP, compute_ground_speed(), gps, ground_speed_of_course(), ground_speed_timer, nav_circle_XY(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, Norm2Pi, qdr_a, radius, Sign, snav_desired_tow, stateGetAirspeed_f(), stateGetHorizontalWindspeed_f(), stateGetPositionEnu_f(), GpsState::tow, u_a_ca_x, u_a_ca_y, WaypointX, WaypointY, wp_a, point::x, and point::y.

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bool snav_route

(

void

)

Definition at line 130 of file nav_smooth.c.

References CARROT, nav_approaching_xy(), nav_route_xy(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, wp_ta, point::x, and point::y.

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Variable Documentation

float snav_desired_tow

Definition at line 44 of file nav_smooth.c.

Referenced by snav_on_time().