Fixedwing navigation in a spiral/helix

Module XML file: nav_spiral.xml

creating a helix:

• start radius to end radius, increasing after reaching alphamax
• Alphamax is calculated from given segments
• IMPORTANT: numer of segments has to be larger than 2!

Example for airframe file

This example contains all possible configuration options, not all of them are mandatory!

<modules>
  <load name="nav_spiral.xml">
    <define name="NAV_SPIRAL_MIN_CIRCLE_RADIUS" value="120" />
  </load>
</modules>

Module configuration options

Define Options

• name: NAV_SPIRAL_MIN_CIRCLE_RADIUS value: 120
  Description: minium circle radius in meters

Files

Header Files

The following headers are automatically included in modules.h

• nav_spiral.h

Source Files

• modules/nav/nav_spiral.c

Raw nav_spiral.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="nav_spiral" dir="nav">
  <doc>
    <description>
      Fixedwing navigation in a spiral/helix.
      creating a helix:
      - start radius to end radius, increasing after reaching alphamax
      - Alphamax is calculated from given segments
      - IMPORTANT: numer of segments has to be larger than 2!
    </description>
    <define name="NAV_SPIRAL_MIN_CIRCLE_RADIUS" value="120" description="minium circle radius in meters"/>
  </doc>
  <header>
    <file name="nav_spiral.h"/>
  </header>
  <makefile target="ap|sim|nps">
    <file name="nav_spiral.c"/>
  </makefile>
</module>