mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
[fixedwing] snav 'smooth navigation' as a module
This commit is contained in:
Loic Drumettaz
committed by
Felix Ruess
Felix Ruess
parent
ebccc37a06
commit
e2ccf1b6a3
@@ -197,6 +197,7 @@
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<load name="nav_survey_poly_adv.xml"/>
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<load name="nav_border_line.xml"/>
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<load name="nav_line.xml"/>
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<load name="nav_smooth.xml"/>
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<load name="infrared_adc.xml"/>
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<load name="digital_cam_servo.xml">
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<define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
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@@ -12,5 +12,4 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
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@@ -80,6 +80,16 @@
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<call fun="border_line_init()"/>
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<call fun="border_line(WP_1, WP_2, nav_radius)"/>
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</block>
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<block name="Smooth nav">
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<set var="snav_desired_tow" value="gps.tow / 1000. + 200."/>
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<call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
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<call fun="snav_circle1()"/>
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<call fun="snav_route()"/>
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<call fun="snav_circle2()"/>
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<call fun="snav_on_time(DEFAULT_CIRCLE_RADIUS)"/>
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<go from="1" hmode="route" wp="2"/>
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<deroute block="Standby"/>
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</block>
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<block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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@@ -1,68 +0,0 @@
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
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<header>
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#include "subsystems/datalink/datalink.h"
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#include "subsystems/navigation/snav.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0" y="0"/>
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<waypoint name="STDBY" x="49.5" y="100.1"/>
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<waypoint name="1" x="226.7" y="92.4"/>
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<waypoint name="2" x="236.0" y="214.7"/>
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<waypoint name="MOB" x="137.0" y="-11.6"/>
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<waypoint name="S1" x="-119.2" y="69.6"/>
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<waypoint name="S2" x="274.4" y="209.5"/>
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<waypoint alt="30.0" name="AF" x="177.4" y="45.1"/>
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<waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
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<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
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<waypoint name="CLIMB" x="-114.5" y="162.3"/>
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</waypoints>
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<exceptions/>
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<blocks>
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<block name="Wait GPS">
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<set value="1" var="kill_throttle"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<set value="1" var="kill_throttle"/>
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<attitude roll="0" throttle="0" vmode="throttle"/>
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</block>
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<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
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<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
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<set value="0" var="kill_throttle"/>
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<set value="0" var="autopilot_flight_time"/>
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<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="Smooth nav">
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<set var="snav_desired_tow" value="gps_itow / 1000. + 200."/>
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<call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
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<call fun="snav_circle1()"/>
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<call fun="snav_route()"/>
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<call fun="snav_circle2()"/>
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<call fun="snav_on_time(DEFAULT_CIRCLE_RADIUS)"/>
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<go from="1" hmode="route" wp="2"/>
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<deroute block="Standby"/>
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</block>
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<block name="land">
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<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
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<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
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<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
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</block>
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<block name="final">
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<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
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<go from="AF" hmode="route" vmode="glide" wp="TD"/>
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</block>
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<block name="flare">
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<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
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<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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@@ -1,6 +1,6 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_line" dir="nav">
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<module name="nav_smooth" dir="nav">
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<doc>
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<description>
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Fixedwing navigation along a line with nice U-turns.
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@@ -0,0 +1,15 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_smooth" dir="nav">
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<doc>
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<description>
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Smooth navigation to wp_a along an arc (around wp_cd), a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
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</description>
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</doc>
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<header>
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<file name="nav_smooth.h"/>
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</header>
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<makefile>
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<file name="nav_smooth.c"/>
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</makefile>
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</module>
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@@ -20,13 +20,13 @@
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*/
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/**
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* @file subsystems/navigation/nav_line.c
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* @file modules/nav/nav_line.c
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*
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* Fixedwing navigation along a line with nice U-turns.
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*/
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#include "generated/airframe.h"
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#include "subsystems/navigation/nav_line.h"
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#include "modules/nav/nav_line.h"
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#include "subsystems/nav.h"
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/** Status along the pattern */
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@@ -20,7 +20,7 @@
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*/
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/**
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* @file subsystems/navigation/nav_line.h
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* @file modules/nav/nav_line.h
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*
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* Fixedwing navigation along a line with nice U-turns.
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*/
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@@ -20,7 +20,7 @@
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*/
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/**
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* @file subsystems/navigation/snav.c
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* @file modules/nav/nav_smooth.c
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*
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* Smooth navigation to wp_a along an arc (around wp_cd),
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* a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
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@@ -28,7 +28,7 @@
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#include <math.h>
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#include "generated/airframe.h"
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#include "subsystems/navigation/snav.h"
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#include "modules/nav/nav_smooth.h"
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#include "state.h"
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#include "subsystems/nav.h"
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#include "subsystems/gps.h"
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@@ -20,7 +20,7 @@
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*/
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/**
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* @file subsystems/navigation/snav.h
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* @file modules/nav/nav_smooth.h
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*
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* Smooth navigation to wp_a along an arc (around wp_cd),
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* a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
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@@ -31,6 +31,7 @@
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#include "std.h"
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extern float snav_desired_tow; /* time of week, s */
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bool_t snav_init(uint8_t wp_a, float desired_course_rad, float radius);
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@@ -40,5 +41,3 @@ bool_t snav_circle2(void);
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bool_t snav_on_time(float radius);
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#endif // SNAV_H
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