common_flight_plan.h File Reference

Common flight_plan functions shared between fixedwing and rotorcraft. More...

#include "std.h"

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Macros
#define	InitStage()   nav_init_stage();
#define	Block(x)   case x: nav_block=x;
#define	NextBlock()   { nav_block++; nav_init_block(); }
#define	GotoBlock(b)   { nav_block=b; nav_init_block(); }
#define	Stage(s)   case s: nav_stage=s;
#define	NextStage()   { nav_stage++; InitStage(); }
#define	NextStageAndBreak()   { nav_stage++; InitStage(); break; }
#define	NextStageAndBreakFrom(wp)   { last_wp = wp; NextStageAndBreak(); }
#define	Label(x)   label_ ## x:
#define	Goto(x)   { goto label_ ## x; }
#define	Return()   { nav_block=last_block; nav_stage=last_stage; block_time=0;}
#define	And(x, y)   ((x) && (y))
#define	Or(x, y)   ((x) || (y))
#define	Min(x, y)   (x < y ? x : y)
#define	Max(x, y)   (x > y ? x : y)
#define	LessThan(_x, _y)   ((_x) < (_y))
#define	MoreThan(_x, _y)   ((_x) > (_y))
#define	NavBlockTime()   (block_time)
	Time in s since the entrance in the current block. More...

Functions
void	nav_init_stage (void)
	needs to be implemented by fixedwing and rotorcraft seperately More...
void	nav_init_block (void)
void	nav_goto_block (uint8_t block_id)

Variables
uint16_t	stage_time
	In s. More...
uint16_t	block_time
uint8_t	nav_stage
uint8_t	nav_block
uint8_t	last_block
	To save the current block/stage to enable return. More...
uint8_t	last_stage

Detailed Description

Common flight_plan functions shared between fixedwing and rotorcraft.

Definition in file common_flight_plan.h.

Macro Definition Documentation

#define And	(		x,
			y
	)		((x) && (y))

Definition at line 59 of file common_flight_plan.h.

#define Block

(

x

)

case x: nav_block=x;

Definition at line 46 of file common_flight_plan.h.

#define Goto

(

x

)

{ goto label_ ## x; }

Definition at line 56 of file common_flight_plan.h.

#define GotoBlock

(

b

)

{ nav_block=b; nav_init_block(); }

Definition at line 48 of file common_flight_plan.h.

Referenced by nav_goto_block().

#define InitStage

(

)

nav_init_stage();

Definition at line 44 of file common_flight_plan.h.

Referenced by nav_eight(), nav_init_block(), and nav_oval().

#define Label

(

x

)

label_ ## x:

Definition at line 55 of file common_flight_plan.h.

#define LessThan	(		_x,
			_y
	)		((_x) < (_y))

Definition at line 63 of file common_flight_plan.h.

#define Max	(		x,
			y
	)		(x > y ? x : y)

Definition at line 62 of file common_flight_plan.h.

Referenced by airspeed_adc_update(), eas_from_dynamic_pressure(), formation_flight(), gls_run(), h_ctl_course_loop(), h_ctl_pitch_loop(), h_ctl_roll_loop(), ms45xx_i2c_event(), nav_anemotaxis(), nav_approaching_xy(), nav_circle_XY(), nav_eight(), nav_follow(), nav_route(), nav_route_xy(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), pbn_read_event(), periodic_report_sysmon(), potential_task(), spi_submit(), SpiTransmit(), and tcas_periodic_task_4Hz().

#define Min	(		x,
			y
	)		(x < y ? x : y)

Definition at line 61 of file common_flight_plan.h.

Referenced by gh_set_max_speed(), gps_ubx_read_message(), guidance_h_traj_run(), guidance_v_run(), h_ctl_course_loop(), mavlink_send_gps_status(), nav_circle_XY(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), parse_ins_msg(), RadioControlEventImp(), and tcas_periodic_task_4Hz().

#define MoreThan	(		_x,
			_y
	)		((_x) > (_y))

Definition at line 64 of file common_flight_plan.h.

#define NavBlockTime

(

)

(block_time)

Time in s since the entrance in the current block.

Definition at line 67 of file common_flight_plan.h.

#define NextBlock

(

)

{ nav_block++; nav_init_block(); }

Definition at line 47 of file common_flight_plan.h.

#define NextStage

(

)

{ nav_stage++; InitStage(); }

Definition at line 51 of file common_flight_plan.h.

#define NextStageAndBreak

(

)

{ nav_stage++; InitStage(); break; }

Definition at line 52 of file common_flight_plan.h.

#define NextStageAndBreakFrom

(

wp

)

{ last_wp = wp; NextStageAndBreak(); }

Definition at line 53 of file common_flight_plan.h.

#define Or	(		x,
			y
	)		((x) || (y))

Definition at line 60 of file common_flight_plan.h.

#define Return

(

)

{ nav_block=last_block; nav_stage=last_stage; block_time=0;}

Definition at line 57 of file common_flight_plan.h.

#define Stage

(

s

)

case s: nav_stage=s;

Definition at line 50 of file common_flight_plan.h.

Function Documentation

void nav_goto_block

(

uint8_t

block_id

)

Definition at line 51 of file common_flight_plan.c.

References GotoBlock, last_block, last_stage, nav_block, and nav_stage.

Referenced by dl_parse_msg(), gsm_receive_content(), and mavlink_block_message_handler().

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void nav_init_block

(

void

)

Definition at line 41 of file common_flight_plan.c.

References block_time, InitStage, nav_block, and nav_stage.

void nav_init_stage

(

void

)

needs to be implemented by fixedwing and rotorcraft seperately

Definition at line 91 of file nav.c.

References FALSE, horizontal_mode, HORIZONTAL_MODE_WAYPOINT, last_x, last_y, nav_circle_radians, nav_last_point, stage_time, stateGetPositionEnu_f(), stateGetPositionEnu_i(), VECT3_COPY, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by nav_anemotaxis(), nav_bungee_takeoff_run(), nav_flower_run(), nav_line_border_run(), nav_line_osam_run(), nav_line_run(), nav_survey_disc_run(), nav_survey_poly_osam_run(), nav_survey_poly_run(), nav_survey_polygon_run(), nav_survey_zamboni_run(), and nav_vertical_raster_run().

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Variable Documentation

uint16_t block_time

Definition at line 33 of file common_flight_plan.c.

Referenced by common_nav_periodic_task_4Hz(), nav_init_block(), and nav_periodic_task().

uint8_t last_block

To save the current block/stage to enable return.

Definition at line 38 of file common_flight_plan.c.

Referenced by nav_goto_block().

uint8_t last_stage

Definition at line 38 of file common_flight_plan.c.

Referenced by nav_goto_block().

uint8_t nav_block

Definition at line 35 of file common_flight_plan.c.

Referenced by generic_com_periodic(), mavlink_mission_periodic(), nav_goto_block(), nav_init(), and nav_init_block().

uint8_t nav_stage

Definition at line 35 of file common_flight_plan.c.

Referenced by nav_goto_block(), nav_init(), and nav_init_block().

uint16_t stage_time

In s.

Definition at line 33 of file common_flight_plan.c.

Referenced by common_nav_periodic_task_4Hz(), nav_init_stage(), and nav_periodic_task().