nav_flower.c File Reference

from OSAM advanced navigation routines More...

#include "modules/nav/nav_flower.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"

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Go to the source code of this file.

Enumerations
enum	FlowerStatus { Outside, FlowerLine, Circle }
	Makes a flower pattern. More...

Functions
void	nav_flower_init (void)
void	nav_flower_setup (uint8_t CenterWP, uint8_t EdgeWP)
bool	nav_flower_run (void)

Variables
static enum FlowerStatus	CFlowerStatus
static float	CircleX
static float	CircleY
static float	Fly2X
static float	Fly2Y
static float	FlyFromX
static float	FlyFromY
static float	TransCurrentX
static float	TransCurrentY
static float	EdgeCurrentX
static float	EdgeCurrentY
static float	DistanceFromCenter
static float	FlowerTheta
static float	Flowerradius
static uint8_t	Center
static uint8_t	Edge

Detailed Description

from OSAM advanced navigation routines

Definition in file nav_flower.c.

Enumeration Type Documentation

enum FlowerStatus

Makes a flower pattern.

CenterWP is the center of the flower. The Navigation Height is taken from this waypoint. EdgeWP defines the radius of the flower (distance from CenterWP to EdgeWP)

Enumerator
Outside
FlowerLine
Circle

Definition at line 67 of file nav_flower.c.

Function Documentation

void nav_flower_init

(

void

)

Definition at line 53 of file nav_flower.c.

References mission_register().

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bool nav_flower_run

(

void

)

Definition at line 115 of file nav_flower.c.

References Circle, FlowerLine, Flowerradius, nav_circle_XY(), nav_init_stage(), nav_radius, nav_route_xy(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, Outside, stateGetPositionEnu_f(), waypoints, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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void nav_flower_setup	(	uint8_t	CenterWP,
		uint8_t	EdgeWP
	)

Definition at line 85 of file nav_flower.c.

References FlowerLine, Outside, stateGetPositionEnu_f(), WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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Variable Documentation

uint8_t Center

static

Definition at line 82 of file nav_flower.c.

enum FlowerStatus CFlowerStatus

static

Definition at line 68 of file nav_flower.c.

float CircleX

static

Definition at line 69 of file nav_flower.c.

float CircleY

static

Definition at line 70 of file nav_flower.c.

float DistanceFromCenter

static

Definition at line 79 of file nav_flower.c.

uint8_t Edge

static

Definition at line 83 of file nav_flower.c.

float EdgeCurrentX

static

Definition at line 77 of file nav_flower.c.

float EdgeCurrentY

static

Definition at line 78 of file nav_flower.c.

float Flowerradius

static

Definition at line 81 of file nav_flower.c.

Referenced by nav_flower_run().

float FlowerTheta

static

Definition at line 80 of file nav_flower.c.

float Fly2X

static

Definition at line 71 of file nav_flower.c.

float Fly2Y

static

Definition at line 72 of file nav_flower.c.

float FlyFromX

static

Definition at line 73 of file nav_flower.c.

float FlyFromY

static

Definition at line 74 of file nav_flower.c.

float TransCurrentX

static

Definition at line 75 of file nav_flower.c.

float TransCurrentY

static

Definition at line 76 of file nav_flower.c.