#include "firmwares/rover/navigation.h"
#include "pprz_debug.h"
#include "subsystems/gps.h"
#include "subsystems/ins.h"
#include "state.h"
#include "autopilot.h"
#include "generated/modules.h"
#include "generated/flight_plan.h"
#include "math/pprz_algebra_int.h"
#include "subsystems/datalink/downlink.h"
#include "pprzlink/messages.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/telemetry.h"

Include dependency graph for navigation.c:

Macros
#define	NAV_C

Functions
void	set_exception_flag (uint8_t flag_num)

static void	send_wp_moved (struct transport_tx trans, struct link_device dev)

void	nav_init (void)
	Navigation Initialisation. More...

void	nav_run (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...

void	nav_reset_reference (void)
	Reset the geographic reference to the current GPS fix. More...

void	nav_reset_alt (void)

void	nav_init_stage (void)
	needs to be implemented by fixedwing and rotorcraft seperately 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_home (void)
	Home mode navigation. More...

float	get_dist2_to_point (struct EnuCoor_f *p)
	Returns squared horizontal distance to given point. More...

float	get_dist2_to_waypoint (uint8_t wp_id)
	Returns squared horizontal distance to given waypoint. More...

void	compute_dist2_to_home (void)
	Computes squared distance to the HOME waypoint potentially sets too_far_from_home. More...

void	nav_set_heading_rad (float rad)
	Set nav_heading in radians. 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)

void	nav_register_goto_wp (nav_rover_goto nav_goto, nav_rover_route nav_route, nav_rover_approaching nav_approaching)
	Register 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)

Variables
struct RoverNavigation	nav

uint8_t	last_wp
	Index of last waypoint. More...

const float	max_dist_from_home = MAX_DIST_FROM_HOME

const float	max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME

float	failsafe_mode_dist2 = FAILSAFE_MODE_DISTANCE * FAILSAFE_MODE_DISTANCE
	maximum squared distance to home wp before going to failsafe mode More...

Detailed Description

Rover navigation functions.

Definition in file navigation.c.

Macro Definition Documentation

◆ NAV_C

#define NAV_C

Definition at line 28 of file navigation.c.

Function Documentation

◆ compute_dist2_to_home()

void compute_dist2_to_home ( void )

Computes squared distance to the HOME waypoint potentially sets too_far_from_home.

Definition at line 226 of file navigation.c.

References RoverNavigation::dist2_to_home, get_dist2_to_waypoint(), max_dist2_from_home, nav, stateGetPositionEnu_f(), RoverNavigation::too_far_from_home, EnuCoor_f::x, and EnuCoor_f::y.

Here is the call graph for this function:

◆ get_dist2_to_point()

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 p, pos_diff, stateGetPositionEnu_f(), FloatVect2::x, EnuCoor_f::x, FloatVect2::y, and EnuCoor_f::y.

Here is the call graph for this function:

◆ get_dist2_to_waypoint()

float get_dist2_to_waypoint ( uint8_t wp_id )

Returns squared horizontal distance to given waypoint.

Definition at line 218 of file navigation.c.

References get_dist2_to_point(), and waypoints.

Referenced by NavGotoWaypoint(), and NavGotoWaypointHeading().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ nav_check_wp_time()

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.

◆ nav_home()

void nav_home ( void )

Home mode navigation.

Home mode navigation (circle around HOME)

Nominal speed

Definition at line 195 of file navigation.c.

References autopilot, compute_dist2_to_home(), dist2_to_home, dist2_to_wp, FAILSAFE_HOME_RADIUS, ground_alt, pprz_autopilot::launch, RoverNavigation::mode, nav, nav_altitude, NAV_MODE_WAYPOINT, nav_pitch, nav_run(), nav_set_altitude(), NavCircleWaypoint, RoverNavigation::target, v_ctl_mode, V_CTL_MODE_AUTO_ALT, V_CTL_MODE_AUTO_THROTTLE, v_ctl_throttle_setpoint, VECT3_COPY, and waypoints.

Here is the call graph for this function:

◆ nav_init()

void nav_init ( void )

Navigation Initialisation.

Definition at line 80 of file navigation.c.

References RoverNavigation::carrot, DEFAULT_CIRCLE_RADIUS, DefaultPeriodic, RoverNavigation::dist2_to_home, fp_climb, fp_pitch, fp_throttle, ground_alt, RoverNavigation::heading, RoverNavigation::mode, nav, nav_block, nav_glide_pitch_trim, NAV_GLIDE_PITCH_TRIM, nav_ground_speed_pgain, nav_ground_speed_setpoint, nav_mode, NAV_MODE_COURSE, NAV_MODE_WAYPOINT, nav_radius, nav_stage, nav_survey_shift, RoverNavigation::radius, register_periodic_telemetry(), send_circle(), send_nav(), send_nav_ref(), send_segment(), send_survey(), send_wp_moved(), RoverNavigation::shift, RoverNavigation::speed, RoverNavigation::target, RoverNavigation::too_far_from_home, RoverNavigation::turn, VECT3_COPY, waypoints, and waypoints_init().

Here is the call graph for this function:

◆ nav_init_stage()

void nav_init_stage ( void )

needs to be implemented by fixedwing and rotorcraft seperately

Definition at line 169 of file navigation.c.

References RoverNavigation::last_pos, last_x, last_y, nav, nav_circle_radians, nav_circle_radians_no_rewind, nav_in_circle, nav_in_segment, nav_shift, stage_time, stateGetPositionEnu_f(), VECT3_COPY, EnuCoor_f::x, and EnuCoor_f::y.

Here is the call graph for this function:

◆ nav_is_in_flight()

bool nav_is_in_flight ( void )

Definition at line 189 of file navigation.c.

References autopilot_in_flight().

Here is the call graph for this function:

◆ nav_periodic_task()

void nav_periodic_task ( void )

Navigation main: call to the code generated from the XML flight plan.

Definition at line 176 of file navigation.c.

References block_time, circle_bank, compute_dist2_to_home(), dist2_to_wp, h_ctl_course_pre_bank, NAV_FREQ, nav_in_circle, 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.

Here is the call graph for this function:

◆ nav_register_circle()

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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ nav_register_goto_wp()

void nav_register_goto_wp	(	nav_rover_goto	nav_goto,
		nav_rover_route	nav_route,
		nav_rover_approaching	nav_approaching
	)

Register 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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ nav_register_oval()

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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ nav_reset_alt()

void nav_reset_alt ( void )

Definition at line 163 of file navigation.c.

References ins_reset_altitude_ref(), and waypoints_localize_all().

Here is the call graph for this function:

◆ nav_reset_reference()

void nav_reset_reference ( void )

Reset the geographic reference to the current GPS fix.

Definition at line 156 of file navigation.c.

References ins_reset_local_origin(), and waypoints_localize_all().

Here is the call graph for this function:

◆ nav_run()

void nav_run ( void )

Definition at line 109 of file navigation.c.

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

Here is the call graph for this function:

◆ nav_set_failsafe()

void nav_set_failsafe ( void )

Definition at line 279 of file navigation.c.

References AP_MODE_FAILSAFE, and autopilot_set_mode().

Here is the call graph for this function:

◆ nav_set_heading_current()

void nav_set_heading_current ( void )

Set heading to the current yaw angle.

Definition at line 274 of file navigation.c.

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

Here is the call graph for this function:

◆ nav_set_heading_deg()

void nav_set_heading_deg ( float deg )

Set nav_heading in degrees.

Definition at line 244 of file navigation.c.

References nav_set_heading_rad().

Here is the call graph for this function:

◆ nav_set_heading_rad()

void nav_set_heading_rad ( float rad )

Set nav_heading in radians.

heading utility functions

Definition at line 237 of file navigation.c.

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

◆ nav_set_heading_towards()

void nav_set_heading_towards	(	float	x,
		float	y
	)

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

Definition at line 250 of file navigation.c.

References ANGLE_BFP_OF_REAL, f, RoverNavigation::heading, nav, nav_heading, pos_diff, stateGetPositionEnu_f(), target, VECT2_DIFF, VECT2_NORM2, FloatVect2::x, and FloatVect2::y.

Here is the call graph for this function:

◆ nav_set_heading_towards_target()

void nav_set_heading_towards_target ( void )

Set heading in the direction of the target.

Definition at line 268 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.

Here is the call graph for this function:

◆ nav_set_heading_towards_waypoint()

void nav_set_heading_towards_waypoint ( uint8_t wp )

Set heading in the direction of a waypoint.

Definition at line 262 of file navigation.c.

References nav_set_heading_towards(), WaypointX, and WaypointY.

Referenced by NavGotoWaypointHeading().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ send_wp_moved()

static void send_wp_moved	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 67 of file navigation.c.

References dev, nb_waypoint, waypoints, point::x, and point::y.

Referenced by nav_init().

Here is the caller graph for this function:

◆ set_exception_flag()

void set_exception_flag ( uint8_t flag_num )

Definition at line 58 of file navigation.c.

References exception_flag, RoverNavigation::exception_flag, and nav.

Variable Documentation

◆ failsafe_mode_dist2

float failsafe_mode_dist2 = FAILSAFE_MODE_DISTANCE * FAILSAFE_MODE_DISTANCE

maximum squared distance to home wp before going to failsafe mode

Definition at line 55 of file navigation.c.

◆ last_wp

uint8_t last_wp

Index of last waypoint.

Used only in "go" stage in "route" horiz mode

Definition at line 51 of file navigation.c.

◆ max_dist2_from_home

const float max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME

Definition at line 54 of file navigation.c.

◆ max_dist_from_home

const float max_dist_from_home = MAX_DIST_FROM_HOME

Definition at line 53 of file navigation.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ NAV_C

Function Documentation

◆ compute_dist2_to_home()

◆ get_dist2_to_point()

◆ get_dist2_to_waypoint()

◆ nav_check_wp_time()

◆ nav_home()

◆ nav_init()

◆ nav_init_stage()

◆ nav_is_in_flight()

◆ nav_periodic_task()

◆ nav_register_circle()

◆ nav_register_goto_wp()

◆ nav_register_oval()

◆ nav_reset_alt()

◆ nav_reset_reference()

◆ nav_run()

◆ nav_set_failsafe()

◆ nav_set_heading_current()

◆ nav_set_heading_deg()

◆ nav_set_heading_rad()

◆ nav_set_heading_towards()

◆ nav_set_heading_towards_target()

◆ nav_set_heading_towards_waypoint()

◆ send_wp_moved()

◆ set_exception_flag()

Variable Documentation

◆ failsafe_mode_dist2

◆ last_wp

◆ max_dist2_from_home

◆ max_dist_from_home

◆ nav