nav_drop.h File Reference

Navigation module to drop a ball at a given point taking into account the wind and ground speed. More...

#include "std.h"
#include "firmwares/fixedwing/nav.h"

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Macros
#define	NavDropComputeApproach(_target, _start, _radius)   nav_drop_compute_approach(_target, _start, _radius)
#define	NavDropUpdateRelease(_wp)   nav_drop_update_release(_wp)
#define	NavDropShoot()   nav_drop_shoot()
#define	NavDropCloseHatch()   ({ ap_state->commands[COMMAND_HATCH] = MIN_PPRZ; })
#define	NavDropAligned()   Qdr(DegOfRad(nav_drop_qdr_aligned))

Functions
unit_t	nav_drop_compute_approach (uint8_t wp_target, uint8_t wp_start, uint8_t wp_baseturn, uint8_t wp_climbout, float radius)
unit_t	nav_drop_update_release (uint8_t wp_target)
unit_t	nav_drop_shoot (void)
bool_t	compute_alignment (uint8_t w1, uint8_t w2, uint8_t start, uint8_t end, float d_before, float d_after)

Variables
float	nav_drop_trigger_delay
float	nav_drop_start_qdr

Detailed Description

Navigation module to drop a ball at a given point taking into account the wind and ground speed.

Definition in file nav_drop.h.

Macro Definition Documentation

#define NavDropAligned

(

)

Qdr(DegOfRad(nav_drop_qdr_aligned))

Definition at line 46 of file nav_drop.h.

#define NavDropCloseHatch

(

)

({ ap_state->commands[COMMAND_HATCH] = MIN_PPRZ; })

Definition at line 45 of file nav_drop.h.

#define NavDropComputeApproach	(		_target,
			_start,
			_radius
	)		nav_drop_compute_approach(_target, _start, _radius)

Definition at line 42 of file nav_drop.h.

#define NavDropShoot

(

)

nav_drop_shoot()

Definition at line 44 of file nav_drop.h.

#define NavDropUpdateRelease

(

_wp

)

nav_drop_update_release(_wp)

Definition at line 43 of file nav_drop.h.

Function Documentation

bool_t compute_alignment	(	uint8_t	w1,
		uint8_t	w2,
		uint8_t	start,
		uint8_t	end,
		float	d_before,
		float	d_after
	)

unit_t nav_drop_compute_approach	(	uint8_t	wp_target,
		uint8_t	wp_start,
		uint8_t	wp_baseturn,
		uint8_t	wp_climbout,
		float	radius
	)

unit_t nav_drop_shoot

(

void

)

unit_t nav_drop_update_release

(

uint8_t

wp_target

)

Variable Documentation

float nav_drop_start_qdr

float nav_drop_trigger_delay