nav_survey_disc.c File Reference

#include "modules/nav/nav_survey_disc.h"
#include "generated/airframe.h"
#include "state.h"
#include "std.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/flight_plan.h"
#include "math/pprz_algebra_float.h"

Include dependency graph for nav_survey_disc.c:

Go to the source code of this file.

Data Structures
struct	DiscSurvey

Enumerations
enum	DiscSurveyStatus { UTURN, SEGMENT, DOWNWIND }

Functions
void	nav_survey_disc_setup (float grid)
bool	nav_survey_disc_run (uint8_t center_wp, float radius)

Variables
static struct DiscSurvey	disc_survey

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Data Structure Documentation

DiscSurvey

struct DiscSurvey

Definition at line 38 of file nav_survey_disc.c.

Collaboration diagram for DiscSurvey:

Data Fields
struct FloatVect2	c
struct FloatVect2	c1
struct FloatVect2	c2
int8_t	sign
enum DiscSurveyStatus	status

Enumeration Type Documentation

DiscSurveyStatus

enum DiscSurveyStatus

Enumerator
UTURN
SEGMENT
DOWNWIND

Definition at line 36 of file nav_survey_disc.c.

Function Documentation

nav_survey_disc_run()

bool nav_survey_disc_run	(	uint8_t	center_wp,
		float	radius
	)

Not null even if wind_east=wind_north=0

Definition at line 58 of file nav_survey_disc.c.

References DiscSurvey::c, DiscSurvey::c1, DiscSurvey::c2, CARROT, disc_survey, DOWNWIND, nav_approaching_xy(), nav_circle_XY(), nav_init_stage(), nav_route_xy(), nav_survey_shift, NavQdrCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, SEGMENT, DiscSurvey::sign, stateGetHorizontalWindspeed_f(), stateGetPositionEnu_f(), DiscSurvey::status, UTURN, VECT2_DIFF, VECT2_DOT_PRODUCT, WaypointAlt, waypoints, point::x, FloatVect2::x, EnuCoor_f::x, point::y, FloatVect2::y, and EnuCoor_f::y.

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nav_survey_disc_setup()

void nav_survey_disc_setup

(

float

grid

)

Definition at line 49 of file nav_survey_disc.c.

References DiscSurvey::c1, disc_survey, DOWNWIND, nav_survey_shift, DiscSurvey::sign, stateGetPositionEnu_f(), DiscSurvey::status, FloatVect2::x, EnuCoor_f::x, FloatVect2::y, and EnuCoor_f::y.

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Variable Documentation

disc_survey

struct DiscSurvey disc_survey

static

Definition at line 46 of file nav_survey_disc.c.

Referenced by nav_survey_disc_run(), and nav_survey_disc_setup().