anemotaxis.c File Reference

#include "modules/enose/anemotaxis.h"
#include "generated/airframe.h"
#include "state.h"
#include "std.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/flight_plan.h"
#include "subsystems/datalink/downlink.h"
#include "modules/enose/chemo_detect.h"

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Enumerations
enum	status { UTURN, CROSSWIND }

Functions
static void	last_plume_was_here (void)
bool_t	nav_anemotaxis_downwind (uint8_t c, float radius)
bool_t	nav_anemotaxis_init (uint8_t c)
bool_t	nav_anemotaxis (uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume)

Variables
static enum status	status
static int8_t	sign
static struct point	last_plume

Enumeration Type Documentation

enum status

Enumerator
UTURN
CROSSWIND

Definition at line 10 of file anemotaxis.c.

Function Documentation

static void last_plume_was_here ( void  )

static

Definition at line 15 of file anemotaxis.c.

References last_plume, stateGetPositionEnu_f(), point::x, EnuCoor_f::x, point::y, and EnuCoor_f::y.

Referenced by nav_anemotaxis(), and nav_anemotaxis_init().

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bool_t nav_anemotaxis	(	uint8_t	c,
		uint8_t	c1,
		uint8_t	c2,
		uint8_t	plume
	)

Not null even if wind_east=wind_north=0

Definition at line 42 of file anemotaxis.c.

References c1, c2, CARROT, chemo_sensor, CROSSWIND, DEFAULT_CIRCLE_RADIUS, last_plume, last_plume_was_here(), Max, nav_init_stage(), NavApproaching, NavCircleWaypoint, NavQdrCloseTo, NavSegment, sign, stateGetHorizontalWindspeed_f(), stateGetPositionEnu_f(), TRUE, UTURN, waypoints, point::x, FloatVect2::x, EnuCoor_f::x, point::y, FloatVect2::y, and EnuCoor_f::y.

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bool_t nav_anemotaxis_downwind	(	uint8_t	c,
		float	radius
	)

Definition at line 21 of file anemotaxis.c.

References FALSE, stateGetHorizontalWindspeed_f(), waypoints, point::x, FloatVect2::x, point::y, and FloatVect2::y.

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bool_t nav_anemotaxis_init

(

uint8_t

c

)

Definition at line 30 of file anemotaxis.c.

References DEFAULT_CIRCLE_RADIUS, FALSE, last_plume_was_here(), sign, stateGetHorizontalWindspeed_f(), stateGetPositionEnu_f(), UTURN, waypoints, point::x, FloatVect2::x, EnuCoor_f::x, point::y, FloatVect2::y, and EnuCoor_f::y.

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Variable Documentation

struct point last_plume

static

Definition at line 13 of file anemotaxis.c.

Referenced by last_plume_was_here(), and nav_anemotaxis().

int8_t sign

static

Definition at line 12 of file anemotaxis.c.

Referenced by nav_anemotaxis(), and nav_anemotaxis_init().

enum status status

static

Definition at line 11 of file anemotaxis.c.