nav_gls.c File Reference

gps landing system More...

#include "generated/airframe.h"
#include "state.h"
#include "modules/nav/nav_gls.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/flight_plan.h"

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Macros
#define	APP_TARGET_SPEED   NOMINAL_AIRSPEED
#define	MAX_WIND_ON_FINAL   0.8*APP_TARGET_SPEED
#define	APP_ANGLE   RadOfDeg(5)
#define	APP_INTERCEPT_RATE   0.625
#define	APP_DISTANCE_AF_SD   100

Functions
static bool	gls_compute_TOD (uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td)
bool	gls_start (uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td)
bool	gls_run (uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td)

Variables
float	target_speed
float	app_angle
float	app_intercept_rate
float	app_distance_af_sd
bool	init = true
float	gs_on_final
float	sd_tod
float	sd_intercept
float	sd_tod_x
float	sd_tod_y

Detailed Description

gps landing system

gps landing system -automatic calculation of top of decent for const app angle -smooth intercept posible -landing direction is set by app fix / also possible in flight!!!

in airframe.xml it is possible to define

1. APP_TARGET_SPEED
2. APP_ANGLE
3. APP_INTERCEPT_RATE
4. APP_DISTANCE_AF_SD

1 - only efective with useairspeed flag 2 - defauld is an approach angle of 5 degree which should be fine for most planes 3 - const. acceleration in z direction to reach desiered pre_climb 4 - distance between approach fix and top of decent

Definition in file nav_gls.c.

Macro Definition Documentation

APP_ANGLE

#define APP_ANGLE   RadOfDeg(5)

Definition at line 65 of file nav_gls.c.

APP_DISTANCE_AF_SD

#define APP_DISTANCE_AF_SD   100

Definition at line 73 of file nav_gls.c.

APP_INTERCEPT_RATE

#define APP_INTERCEPT_RATE   0.625

Definition at line 69 of file nav_gls.c.

APP_TARGET_SPEED

#define APP_TARGET_SPEED   NOMINAL_AIRSPEED

Definition at line 60 of file nav_gls.c.

MAX_WIND_ON_FINAL

#define MAX_WIND_ON_FINAL   0.8*APP_TARGET_SPEED

Definition at line 62 of file nav_gls.c.

Function Documentation

gls_compute_TOD()

static bool gls_compute_TOD ( uint8_t  _af, uint8_t  _sd, uint8_t  _tod, uint8_t  _td  )

inlinestatic

Definition at line 82 of file nav_gls.c.

References app_angle, app_distance_af_sd, app_intercept_rate, gs_on_final, MAX_WIND_ON_FINAL, sd_intercept, sd_tod, sd_tod_x, sd_tod_y, stateGetHorizontalWindspeed_f(), target_speed, WaypointAlt, WaypointX, WaypointY, FloatVect2::x, and FloatVect2::y.

Referenced by gls_start().

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gls_run()

bool gls_run	(	uint8_t	_af,
		uint8_t	_sd,
		uint8_t	_tod,
		uint8_t	_td
	)

Definition at line 159 of file nav_gls.c.

References app_angle, app_distance_af_sd, app_intercept_rate, gs_on_final, init, Max, NavSegment, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, sd_intercept, sd_tod_x, sd_tod_y, stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), target_speed, v_ctl_auto_airspeed_setpoint, WaypointAlt, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

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gls_start()

bool gls_start	(	uint8_t	_af,
		uint8_t	_sd,
		uint8_t	_tod,
		uint8_t	_td
	)

Definition at line 135 of file nav_gls.c.

References app_angle, APP_ANGLE, app_distance_af_sd, APP_DISTANCE_AF_SD, app_intercept_rate, APP_INTERCEPT_RATE, APP_TARGET_SPEED, gls_compute_TOD(), init, and target_speed.

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Variable Documentation

app_angle

float app_angle

Definition at line 53 of file nav_gls.c.

Referenced by gls_compute_TOD(), gls_run(), and gls_start().

app_distance_af_sd

float app_distance_af_sd

Definition at line 55 of file nav_gls.c.

Referenced by gls_compute_TOD(), gls_run(), and gls_start().

app_intercept_rate

float app_intercept_rate

Definition at line 54 of file nav_gls.c.

Referenced by gls_compute_TOD(), gls_run(), and gls_start().

gs_on_final

float gs_on_final

Definition at line 76 of file nav_gls.c.

Referenced by gls_compute_TOD(), and gls_run().

init

bool init = true

Definition at line 57 of file nav_gls.c.

Referenced by calculate_wind_no_airspeed(), gls_run(), gls_start(), init_gazebo(), main(), mission_nav_custom(), and nps_autopilot_init().

sd_intercept

float sd_intercept

Definition at line 78 of file nav_gls.c.

Referenced by gls_compute_TOD(), and gls_run().

sd_tod

float sd_tod

Definition at line 77 of file nav_gls.c.

Referenced by gls_compute_TOD().

sd_tod_x

float sd_tod_x

Definition at line 79 of file nav_gls.c.

Referenced by gls_compute_TOD(), and gls_run().

sd_tod_y

float sd_tod_y

Definition at line 80 of file nav_gls.c.

Referenced by gls_compute_TOD(), and gls_run().

target_speed

float target_speed

Definition at line 52 of file nav_gls.c.

Referenced by gls_compute_TOD(), gls_run(), and gls_start().