nav_line_osam.c File Reference

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

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Data Structures
struct	Point2D

Macros
#define	LINE_START_FUNCTION   {}
#define	LINE_STOP_FUNCTION   {}

Enumerations
enum	FLStatus { FLInitialize, FLCircleS, FLLine, FLFinished }

Functions
static void	TranslateAndRotateFromWorld (struct Point2D *p, float Zrot, float transX, float transY)
bool	nav_line_osam_run (uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After)
bool	nav_line_osam_block_run (uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After)

Variables
static enum FLStatus	CFLStatus = FLInitialize
static struct Point2D	FLCircle
static struct Point2D	FLFROMWP
static struct Point2D	FLTOWP
static float	FLQDR
static float	FLRadius
static uint8_t	FLBlockCount = 0

Detailed Description

Flight line from OSAM advanced navigation routines

Todo:

compare with normal flight line

Definition in file nav_line_osam.c.

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Data Structure Documentation

Point2D

struct Point2D

Definition at line 90 of file nav_launcher.c.

Data Fields
float	x
float	y

Macro Definition Documentation

LINE_START_FUNCTION

#define LINE_START_FUNCTION   {}

Definition at line 38 of file nav_line_osam.c.

LINE_STOP_FUNCTION

#define LINE_STOP_FUNCTION   {}

Definition at line 41 of file nav_line_osam.c.

Enumeration Type Documentation

FLStatus

enum FLStatus

Enumerator
FLInitialize
FLCircleS
FLLine
FLFinished

Definition at line 46 of file nav_line_osam.c.

Function Documentation

nav_line_osam_block_run()

bool nav_line_osam_block_run	(	uint8_t	First_WP,
		uint8_t	Last_WP,
		float	radius,
		float	Space_Before,
		float	Space_After
	)

Definition at line 176 of file nav_line_osam.c.

References CFLStatus, FLBlockCount, FLInitialize, and nav_line_osam_run().

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nav_line_osam_run()

bool nav_line_osam_run	(	uint8_t	From_WP,
		uint8_t	To_WP,
		float	radius,
		float	Space_Before,
		float	Space_After
	)

Definition at line 71 of file nav_line_osam.c.

References CFLStatus, FLCircle, FLCircleS, FLFinished, FLFROMWP, FLInitialize, FLLine, FLQDR, FLRadius, FLTOWP, LINE_START_FUNCTION, LINE_STOP_FUNCTION, nav_approaching_xy(), nav_circle_XY(), nav_init_stage(), nav_route_xy(), NavCircleCount, NavQdrCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, P, stateGetPositionEnu_f(), TranslateAndRotateFromWorld(), waypoints, WaypointX, WaypointY, EnuCoor_f::x, Point2D::x, EnuCoor_f::y, and Point2D::y.

Referenced by nav_line_osam_block_run().

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TranslateAndRotateFromWorld()

static void TranslateAndRotateFromWorld ( struct Point2D *  p, float  Zrot, float  transX, float  transY  )

static

Definition at line 58 of file nav_line_osam.c.

References p.

Referenced by nav_line_osam_run().

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Variable Documentation

CFLStatus

enum FLStatus CFLStatus = FLInitialize

static

Definition at line 48 of file nav_line_osam.c.

Referenced by nav_line_osam_block_run(), and nav_line_osam_run().

FLBlockCount

uint8_t FLBlockCount = 0

static

Definition at line 174 of file nav_line_osam.c.

Referenced by nav_line_osam_block_run().

FLCircle

struct Point2D FLCircle

static

Definition at line 49 of file nav_line_osam.c.

Referenced by nav_line_osam_run().

FLFROMWP

struct Point2D FLFROMWP

static

Definition at line 50 of file nav_line_osam.c.

Referenced by nav_line_osam_run().

FLQDR

float FLQDR

static

Definition at line 52 of file nav_line_osam.c.

Referenced by nav_line_osam_run().

FLRadius

float FLRadius

static

Definition at line 53 of file nav_line_osam.c.

Referenced by nav_line_osam_run().

FLTOWP

struct Point2D FLTOWP

static

Definition at line 51 of file nav_line_osam.c.

Referenced by nav_line_osam_run().