#include "std.h"
#include "modules/vehicle_interface/vi.h"
#include "math/pprz_algebra_int.h"

Include dependency graph for vi_datalink.h:

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Macros
#define	VI_MAX_H_SPEED 4.

#define	VI_MAX_V_SPEED 2.

#define	VI_MAX_HEADING_RATE RadOfDeg(60.)

#define	VI_LIMIT_ATTITUDE(_x) {}

#define	VI_PARSE_DATALINK(_dl_buffer)

#define	VI_NAV_STICK_PARSE_DL(_dl_buffer)

#define	NavUpdateWPFromVI(_wp) { if (vi.enabled) { vi_update_wp(uint8_t _wp); } }

Functions
void	vi_update_wp (uint8_t wp_id)

Macro Definition Documentation

◆ NavUpdateWPFromVI

#define NavUpdateWPFromVI ( _wp ) { if (vi.enabled) { vi_update_wp(uint8_t _wp); } }

Definition at line 114 of file vi_datalink.h.

◆ VI_LIMIT_ATTITUDE

#define VI_LIMIT_ATTITUDE ( _x ) {}

Definition at line 49 of file vi_datalink.h.

◆ VI_MAX_H_SPEED

#define VI_MAX_H_SPEED 4.

Definition at line 30 of file vi_datalink.h.

◆ VI_MAX_HEADING_RATE

#define VI_MAX_HEADING_RATE RadOfDeg(60.)

Definition at line 38 of file vi_datalink.h.

◆ VI_MAX_V_SPEED

#define VI_MAX_V_SPEED 2.

Definition at line 34 of file vi_datalink.h.

◆ VI_NAV_STICK_PARSE_DL

#define VI_NAV_STICK_PARSE_DL ( _dl_buffer )

Value:

    { \
    vi.last_msg = 0; \
    vi.input.h_mode = GUIDANCE_H_MODE_NAV;  \
    vi.input.v_mode = GUIDANCE_V_MODE_NAV;  \
    vi.input.h_sp.speed.x = DL_BOOZ_NAV_STICK_vx_sp(_dl_buffer); \
    vi.input.h_sp.speed.y = DL_BOOZ_NAV_STICK_vy_sp(_dl_buffer); \
    vi.input.h_sp.speed.z = DL_BOOZ_NAV_STICK_r_sp(_dl_buffer); \
    vi.input.v_sp.climb   = DL_BOOZ_NAV_STICK_vz_sp(_dl_buffer); \
  }

Definition at line 104 of file vi_datalink.h.

◆ VI_PARSE_DATALINK

#define VI_PARSE_DATALINK ( _dl_buffer )

Definition at line 52 of file vi_datalink.h.

Function Documentation

◆ vi_update_wp()

void vi_update_wp ( uint8_t wp_id )

Definition at line 42 of file vi_datalink.c.

References Vi_command::h_sp, VehicleInterface::input, navigation_update_wp_from_speed(), Vi_command::v_sp, VECT3_BOUND_BOX, vi, ViMaxHeadingRate, ViMaxHSpeed, ViMaxVSpeed, wp_speed_max, Int16Vect3::x, Int16Vect3::y, and Int16Vect3::z.

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Macros

Functions