nav_spiral.c File Reference

Fixedwing navigation in a spiral/helix. More...

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

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Macros
#define	NAV_SPIRAL_MIN_CIRCLE_RADIUS   60

Functions
void	nav_spiral_setup (uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments)
bool	nav_spiral_run (void)

Variables
struct NavSpiral	nav_spiral

Detailed Description

Fixedwing navigation in a spiral/helix.

creating a helix:

• start radius to end radius, increasing after reaching alphamax
• Alphamax is calculated from given segments
• IMPORTANT: numer of segments has to be larger than 2!

Definition in file nav_spiral.c.

Macro Definition Documentation

#define NAV_SPIRAL_MIN_CIRCLE_RADIUS   60

Definition at line 45 of file nav_spiral.c.

Referenced by nav_spiral_setup().

Function Documentation

bool nav_spiral_run

(

void

)

Definition at line 86 of file nav_spiral.c.

References NavSpiral::alpha_limit, UtmCoor_f::alt, NavSpiral::center, dc_cam_angle, dc_cam_tracing, dc_Circle, dc_send_command(), DC_SHOOT, dc_stop(), NavSpiral::dist_from_center, float_vect2_norm(), FLOAT_VECT3_NORM, NavSpiral::fly_from, NavSpiral::last_circle, nav_approaching_xy(), nav_circle_XY(), nav_route_xy(), nav_spiral, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NavSpiral::radius, NavSpiral::radius_increment, NavSpiral::radius_start, NavSpiral::segments, SpiralCircle, SpiralInc, SpiralOutside, SpiralStartCircle, stateGetPositionEnu_f(), stateGetPositionUtm_f(), NavSpiral::status, NavSpiral::trans_current, VECT2_COPY, VECT2_DIFF, FloatVect2::x, FloatVect3::x, FloatVect2::y, FloatVect3::y, and FloatVect3::z.

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void nav_spiral_setup	(	uint8_t	center_wp,
		uint8_t	edge_wp,
		float	radius_start,
		float	radius_inc,
		float	segments
	)

Definition at line 50 of file nav_spiral.c.

References point::a, NavSpiral::alpha_limit, UtmCoor_f::alt, NavSpiral::center, NavSpiral::dist_from_center, float_vect2_norm(), FLOAT_VECT3_NORM, NavSpiral::fly_from, nav_spiral, NAV_SPIRAL_MIN_CIRCLE_RADIUS, NavSpiral::radius, NavSpiral::radius_increment, NavSpiral::radius_min, NavSpiral::radius_start, NavSpiral::segments, SpiralOutside, stateGetPositionEnu_f(), stateGetPositionUtm_f(), NavSpiral::status, NavSpiral::trans_current, VECT2_COPY, VECT2_DIFF, waypoints, FloatVect2::x, EnuCoor_f::x, FloatVect2::y, EnuCoor_f::y, and FloatVect3::z.

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Variable Documentation

struct NavSpiral nav_spiral

Definition at line 48 of file nav_spiral.c.

Referenced by nav_spiral_run(), and nav_spiral_setup().