navigation.h File Reference

Rover navigation functions. More...

#include "std.h"
#include "math/pprz_geodetic_float.h"
#include "state.h"
#include "subsystems/navigation/waypoints.h"
#include "subsystems/navigation/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	NAV_FREQ   16
#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+state.ned_origin_f.hmsl)
	Get current altitude above MSL. More...
#define	GetAltRef()   (state.ned_origin_f.hmsl)
	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	NavSetManual(_roll, _pitch, _yaw)   _Pragma("GCC error \"Manual mode in flight plan for fixedwing is not available\"")
#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	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	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_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
uint8_t	last_wp
	Index of last waypoint. More...

Detailed Description

Rover navigation functions.

Definition in file navigation.h.

---

Data Structure Documentation

struct RoverNavigation

General Navigation structure.

Definition at line 83 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

#define ARRIVED_AT_WAYPOINT   3.0f

minimum horizontal distance to waypoint to mark as arrived

Definition at line 58 of file navigation.h.

#define CARROT   0.f

default approaching_time for a wp

Definition at line 39 of file navigation.h.

#define CARROT_DIST   2.f

Definition at line 43 of file navigation.h.

#define DEFAULT_CIRCLE_RADIUS   6.0f

default nav_circle_radius in meters

Definition at line 53 of file navigation.h.

#define FAILSAFE_MODE_DISTANCE   (1.2*MAX_DIST_FROM_HOME)

Maximum distance from HOME waypoint before going into failsafe mode.

Definition at line 63 of file navigation.h.

#define GetAltRef

(

)

(state.ned_origin_f.hmsl)

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 140 of file navigation.h.

#define GetPosAlt

(

)

(stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)

Get current altitude above MSL.

Definition at line 133 of file navigation.h.

#define GetPosX

(

)

(stateGetPositionEnu_f()->x)

Get current x (east) position in local coordinates.

Definition at line 129 of file navigation.h.

#define GetPosY

(

)

(stateGetPositionEnu_f()->y)

Get current y (north) position in local coordinates.

Definition at line 131 of file navigation.h.

#define NAV_FREQ   16

Definition at line 47 of file navigation.h.

#define NAV_MODE_CIRCLE   2

Definition at line 69 of file navigation.h.

Referenced by nav_circle(), NavCircleWaypoint(), and send_nav_status().

#define NAV_MODE_HEADING   3

Definition at line 70 of file navigation.h.

#define NAV_MODE_MANUAL   4

Definition at line 71 of file navigation.h.

#define NAV_MODE_ROUTE   1

Definition at line 68 of file navigation.h.

Referenced by nav_route(), NavSegment(), and send_nav_status().

#define NAV_MODE_WAYPOINT   0

Nav modes.

Definition at line 67 of file navigation.h.

Referenced by nav_goto(), nav_home(), nav_init(), and NavGotoWaypoint().

#define NavAttitude

(

_roll

)

Value:

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

Definition at line 214 of file navigation.h.

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

Definition at line 206 of file navigation.h.

#define NavCopyWaypoint   waypoint_copy

Definition at line 200 of file navigation.h.

#define NavCopyWaypointPositionOnly   waypoint_position_copy

Definition at line 201 of file navigation.h.

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

Definition at line 305 of file navigation.h.

#define NavGlide	(		_start_wp,
			_wp
	)		{}

Unused compat macros.

Definition at line 311 of file navigation.h.

#define NavHeading   nav_set_heading_rad

Set the heading of the rover, nothing else.

Definition at line 227 of file navigation.h.

#define navigation_IncreaseShift

(

x

)

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

Settings handlers.

Definition at line 299 of file navigation.h.

#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 301 of file navigation.h.

#define NavSetAltitudeReferenceHere   nav_reset_alt

Definition at line 197 of file navigation.h.

#define NavSetFailsafe   nav_set_failsafe

Definition at line 194 of file navigation.h.

#define NavSetGroundReferenceHere   nav_reset_reference

Definition at line 196 of file navigation.h.

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

Definition at line 193 of file navigation.h.

#define NavSetWaypointHere   waypoint_set_here_2d

Definition at line 199 of file navigation.h.

#define NavVerticalAltitudeMode	(		_alt,
			_pre_climb
	)		{}

Definition at line 314 of file navigation.h.

#define NavVerticalAutoPitchMode

(

_throttle

)

{}

Definition at line 313 of file navigation.h.

#define NavVerticalAutoThrottleMode

(

_pitch

)

{}

Definition at line 312 of file navigation.h.

#define NavVerticalClimbMode

(

_climb

)

{}

Definition at line 315 of file navigation.h.

#define NavVerticalThrottleMode

(

_speed

)

Value:

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

Definition at line 221 of file navigation.h.

#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 144 of file navigation.h.

#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 149 of file navigation.h.

Referenced by nav_set_heading_rad().

Typedef Documentation

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

Definition at line 75 of file navigation.h.

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

Definition at line 76 of file navigation.h.

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

Definition at line 73 of file navigation.h.

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

Definition at line 78 of file navigation.h.

typedef void(* nav_rover_oval_init)(void)

Definition at line 77 of file navigation.h.

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

Definition at line 74 of file navigation.h.

Function Documentation

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 473 of file navigation.c.

float get_dist2_to_point

(

struct EnuCoor_f *

p

)

Returns squared horizontal distance to given point.

Definition at line 207 of file navigation.c.

References stateGetPositionEnu_f(), FloatVect2::x, EnuCoor_f::x, FloatVect2::y, and EnuCoor_f::y.

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float get_dist2_to_waypoint

(

uint8_t

wp_id

)

Returns squared horizontal distance to given waypoint.

Definition at line 465 of file navigation.c.

References get_dist2_to_point(), and waypoints.

Referenced by compute_dist2_to_home().

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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 115 of file navigation.c.

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 422 of file nav.c.

References autopilot, autopilot_in_flight(), compute_dist2_to_home(), dist2_to_home, dist2_to_wp, FAILSAFE_HOME_RADIUS, ground_alt, horizontal_mode, HORIZONTAL_MODE_WAYPOINT, pprz_autopilot::launch, RoverNavigation::mode, nav, nav_altitude, nav_flight_altitude, NAV_MODE_WAYPOINT, nav_run(), nav_set_altitude(), NavCircleWaypoint, navigation_target, RoverNavigation::target, v_ctl_mode, V_CTL_MODE_AUTO_ALT, V_CTL_MODE_AUTO_THROTTLE, v_ctl_throttle_setpoint, VECT3_COPY, vertical_mode, VERTICAL_MODE_ALT, and waypoints.

Referenced by autopilot_static_periodic(), and navigation_task().

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void nav_init

(

void

)

Navigation Initialisation.

Definition at line 530 of file nav.c.

References RoverNavigation::carrot, DEFAULT_CIRCLE_RADIUS, DefaultPeriodic, dist2_to_home, RoverNavigation::dist2_to_home, dist2_to_wp, flight_altitude, ground_alt, RoverNavigation::heading, horizontal_mode, HORIZONTAL_MODE_WAYPOINT, RoverNavigation::mode, nav, nav_altitude, nav_block, nav_climb, NAV_CLIMB_VSPEED, nav_climb_vspeed, nav_cmd_pitch, nav_cmd_roll, nav_cmd_yaw, NAV_DESCEND_VSPEED, nav_descend_vspeed, nav_flight_altitude, NAV_GLIDE_PITCH_TRIM, nav_heading, nav_leg_length, nav_leg_progress, NAV_MODE_COURSE, NAV_MODE_WAYPOINT, nav_pitch, nav_radius, nav_roll, nav_stage, nav_throttle, navigation_carrot, navigation_target, POS_BFP_OF_REAL, RoverNavigation::radius, register_periodic_telemetry(), send_circle(), send_nav(), send_nav_ref(), send_nav_status(), send_segment(), send_survey(), send_wp_moved(), RoverNavigation::shift, RoverNavigation::speed, RoverNavigation::target, too_far_from_home, RoverNavigation::too_far_from_home, RoverNavigation::turn, VECT3_COPY, vertical_mode, VERTICAL_MODE_ALT, waypoints, and waypoints_init().

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bool nav_is_in_flight

(

void

)

Definition at line 415 of file navigation.c.

References autopilot_in_flight().

Referenced by follow_me().

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static void nav_oval_init ( void  )

inlinestatic

Definition at line 282 of file navigation.h.

References nav, and RoverNavigation::nav_oval_init.

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.

References block_time, compute_dist2_to_home(), dist2_to_wp, h_ctl_course_pre_bank, NAV_FREQ, nav_run(), nav_set_altitude(), nav_survey_active, 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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void nav_register_circle

(

nav_rover_circle

nav_circle

)

Definition at line 297 of file navigation.c.

References nav, RoverNavigation::nav_circle, and nav_circle().

Referenced by nav_rover_init().

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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 290 of file navigation.c.

References nav, nav_approaching(), RoverNavigation::nav_approaching, nav_goto(), RoverNavigation::nav_goto, RoverNavigation::nav_route, and nav_route().

Referenced by nav_rover_init().

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void nav_register_oval	(	nav_rover_oval_init	nav_oval_init,
		nav_rover_oval	nav_oval
	)

Definition at line 302 of file navigation.c.

References nav, RoverNavigation::nav_oval, nav_oval(), RoverNavigation::nav_oval_init, and nav_oval_init().

Referenced by nav_rover_init().

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void nav_reset_reference

(

void

)

Reset the geographic reference to the current GPS fix.

Definition at line 348 of file navigation.c.

void nav_run

(

void

)

Definition at line 243 of file navigation.c.

References RoverNavigation::carrot, nav, nav_advance_carrot(), nav_set_altitude(), navigation_carrot, navigation_target, RoverNavigation::target, and VECT2_COPY.

Referenced by nav_home(), and nav_periodic_task().

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void nav_set_failsafe

(

void

)

Definition at line 528 of file navigation.c.

References AP_MODE_FAILSAFE, and autopilot_set_mode().

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void nav_set_heading_current

(

void

)

Set heading to the current yaw angle.

Definition at line 523 of file navigation.c.

References RoverNavigation::heading, nav, nav_heading, FloatEulers::psi, Int32Eulers::psi, stateGetNedToBodyEulers_f(), and stateGetNedToBodyEulers_i().

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void nav_set_heading_deg

(

float

deg

)

Set nav_heading in degrees.

Definition at line 491 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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void nav_set_heading_rad

(

float

rad

)

heading utility functions

heading utility functions

Definition at line 484 of file navigation.c.

References ANGLE_BFP_OF_REAL, RoverNavigation::heading, INT32_COURSE_NORMALIZE, nav, nav_heading, and NormCourseRad.

Referenced by nav_set_heading_deg(), and stereocam_droplet_periodic().

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void nav_set_heading_towards	(	float	x,
		float	y
	)

Set heading to point towards x,y position in local coordinates.

Definition at line 497 of file navigation.c.

References ANGLE_BFP_OF_REAL, RoverNavigation::heading, nav, nav_heading, stateGetPositionEnu_f(), 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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void nav_set_heading_towards_target

(

void

)

Set heading in the direction of the target.

Definition at line 516 of file navigation.c.

References nav, nav_set_heading_towards(), navigation_target, POS_FLOAT_OF_BFP, RoverNavigation::target, EnuCoor_f::x, EnuCoor_i::x, EnuCoor_f::y, and EnuCoor_i::y.

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void nav_set_heading_towards_waypoint

(

uint8_t

wp

)

Set heading in the direction of a waypoint.

Definition at line 510 of file navigation.c.

References nav_set_heading_towards(), WaypointX, and WaypointY.

Referenced by orange_avoider_periodic().

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void nav_set_manual	(	float	speed,
		float	turn
	)

static bool NavApproaching ( uint8_t  wp, float  approaching_time  )

inlinestatic

Definition at line 252 of file navigation.h.

References nav, RoverNavigation::nav_approaching, and waypoints.

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

inlinestatic

Definition at line 262 of file navigation.h.

References nav, RoverNavigation::nav_approaching, and waypoints.

static void NavCircleWaypoint ( uint8_t  wp_center, float  radius  )

inlinestatic

Definition at line 273 of file navigation.h.

References RoverNavigation::mode, nav, RoverNavigation::nav_circle, NAV_MODE_CIRCLE, and waypoints.

static void NavGotoWaypoint ( uint8_t  wp )

inlinestatic

Definition at line 236 of file navigation.h.

References RoverNavigation::mode, nav, NAV_MODE_WAYPOINT, RoverNavigation::target, VECT3_COPY, and waypoints.

static void NavKillThrottle ( void  )

inlinestatic

Definition at line 183 of file navigation.h.

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

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static void NavResurrect ( void  )

inlinestatic

Definition at line 187 of file navigation.h.

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

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static void NavSegment ( uint8_t  wp_start, uint8_t  wp_end  )

inlinestatic

Definition at line 244 of file navigation.h.

References RoverNavigation::mode, nav, NAV_MODE_ROUTE, RoverNavigation::nav_route, and waypoints.

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

inlinestatic

Definition at line 289 of file navigation.h.

References nav, RoverNavigation::nav_oval, and waypoints.

void set_exception_flag

(

uint8_t

flag_num

)

Definition at line 128 of file navigation.c.

References exception_flag, RoverNavigation::exception_flag, and nav.

Variable Documentation

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.

struct RoverNavigation nav

Definition at line 49 of file navigation.c.

Referenced by compute_dist2_to_home(), nav_circle(), nav_goto(), nav_home(), nav_init(), nav_init_stage(), nav_oval_init(), nav_register_circle(), nav_register_goto_wp(), nav_register_oval(), nav_route(), nav_run(), nav_set_heading_current(), nav_set_heading_rad(), nav_set_heading_towards(), nav_set_heading_towards_target(), NavApproaching(), NavApproachingFrom(), NavCircleWaypoint(), NavGotoWaypoint(), NavSegment(), Oval(), send_fp(), send_nav_status(), and set_exception_flag().