28 #include "generated/flight_plan.h"
53 float ph_x = waypoints[WP_HOME].
x - pos->
x;
54 float ph_y = waypoints[WP_HOME].
y - pos->
y;
57 #if defined InAirspace
118 for (i = 0; i < NB_WAYPOINT; i++) {
143 waypoints[wp_id].
x = waypoints[WP_HOME].
x + dx;
144 waypoints[wp_id].
y = waypoints[WP_HOME].
y + dy;
145 waypoints[wp_id].
a =
alt;
unit_t nav_update_waypoints_alt(void)
Shift altitude of the waypoint according to a new ground altitude.
void ins_reset_local_origin(void)
Reset the geographic reference to the current GPS fix.
void WEAK ins_reset_utm_zone(struct UtmCoor_f *utm)
INS utm zone reset.
float alt
in meters above WGS84 reference ellipsoid
float ground_alt
size == nb_waypoint, waypoint 0 is a dummy waypoint
void compute_dist2_to_home(void)
Computes squared distance to the HOME waypoint.
vector in East North Up coordinates Units: meters
Integrated Navigation System interface.
static float previous_ground_alt
void nav_move_waypoint(uint8_t wp_id, float ux, float uy, float alt)
Move a waypoint to given UTM coordinates.
position in UTM coordinates Units: meters
float dist2_to_home
squared distance to home waypoint
static struct EnuCoor_f * stateGetPositionEnu_f(void)
Get position in local ENU coordinates (float).
Paparazzi floating point math for geodetic calculations.
void common_nav_periodic_task_4Hz()
unit_t nav_reset_alt(void)
Reset the altitude reference to the current GPS alt.
unit_t nav_reset_reference(void)
Reset the geographic reference to the current GPS fix.
uint8_t zone
UTM zone number.
struct UtmCoor_f utm_origin_f
Definition of the origin of Utm coordinate system.
const uint8_t nb_waypoint
unit_t nav_reset_utm_zone(void)
Reset the UTM zone to current GPS fix.
struct point waypoints[NB_WAYPOINT]
size == nb_waypoint, waypoint 0 is a dummy waypoint
float dist2_to_wp
squared distance to next waypoint
void ins_reset_altitude_ref(void)
INS altitude reference reset.