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[fixedwing][modules] nav modules start and run functions

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This commit is contained in:
Loic Drumettaz
2013-08-27 17:52:13 +02:00
committed by Felix Ruess
parent 396e7403a8
commit fe3e8baf1c
9 changed files with 20 additions and 20 deletions
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conf/flight_plans/nav_modules.xml
+4 -4
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@@ -66,8 +66,8 @@
<circle radius="nav_radius" wp="MOB"/> <circle radius="nav_radius" wp="MOB"/>
</block> </block>
<block group="extra_pattern" name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block group="extra_pattern" name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block group="extra_pattern" name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png"> <block group="extra_pattern" name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
@@ -78,8 +78,8 @@
<call fun="poly_survey_adv_run()"/> <call fun="poly_survey_adv_run()"/>
</block> </block>
<block name="Border line 1-2" strip_button="Border Line (wp 1-2)"> <block name="Border line 1-2" strip_button="Border Line (wp 1-2)">
<call fun="border_line_init()"/> <call fun="border_line_start()"/>
<call fun="border_line(WP_1, WP_2, nav_radius)"/> <call fun="border_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Smooth nav" strip_button="Smooth nav (wp 1-2)"> <block name="Smooth nav" strip_button="Smooth nav (wp 1-2)">
<set var="snav_desired_tow" value="gps.tow / 1000. + 200."/> <set var="snav_desired_tow" value="gps.tow / 1000. + 200."/>
sw/airborne/modules/nav/nav_border_line.c
+2 -2
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@@ -37,12 +37,12 @@
enum border_line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; enum border_line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
static enum border_line_status border_line_status; static enum border_line_status border_line_status;
bool_t border_line_init( void ) { bool_t border_line_start( void ) {
border_line_status = LR12; border_line_status = LR12;
return FALSE; return FALSE;
} }
bool_t border_line(uint8_t l1, uint8_t l2, float radius) { bool_t border_line_run(uint8_t l1, uint8_t l2, float radius) {
radius = fabs(radius); radius = fabs(radius);
float alt = waypoints[l1].a; float alt = waypoints[l1].a;
waypoints[l2].a = alt; waypoints[l2].a = alt;
sw/airborne/modules/nav/nav_border_line.h
+2 -2
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@@ -29,7 +29,7 @@
#include "std.h" #include "std.h"
extern bool_t border_line_init( void ); extern bool_t border_line_start( void );
extern bool_t border_line(uint8_t wp1, uint8_t wp2, float radius); extern bool_t border_line_run(uint8_t wp1, uint8_t wp2, float radius);
#endif /* BORDER_LINE_H */ #endif /* BORDER_LINE_H */
sw/airborne/modules/nav/nav_catapult.c
+2 -2
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@@ -135,7 +135,7 @@ void nav_catapult_highrate_module(void)
//############################################################################################### //###############################################################################################
// Code that runs in 4Hz Nav // Code that runs in 4Hz Nav
bool_t nav_catapult_init(void) bool_t nav_catapult_start(void)
{ {
nav_catapult_armed = TRUE; nav_catapult_armed = TRUE;
@@ -146,7 +146,7 @@ bool_t nav_catapult_init(void)
bool_t nav_catapult(uint8_t _to, uint8_t _climb) bool_t nav_catapult_run(uint8_t _to, uint8_t _climb)
{ {
float alt = WaypointAlt(_climb); float alt = WaypointAlt(_climb);
sw/airborne/modules/nav/nav_catapult.h
+2 -2
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@@ -42,10 +42,10 @@ extern float nav_catapult_initial_throttle;
void nav_catapult_highrate_module(void); void nav_catapult_highrate_module(void);
// Flightplan Code // Flightplan Code
extern bool_t nav_catapult_init(void); extern bool_t nav_catapult_start(void);
extern bool_t nav_catapult_arm(void); extern bool_t nav_catapult_arm(void);
extern bool_t nav_catapult(uint8_t _to, uint8_t _climb); extern bool_t nav_catapult_run(uint8_t _to, uint8_t _climb);
extern bool_t nav_catapult_disarm(void); extern bool_t nav_catapult_disarm(void);
extern bool_t nav_select_touch_down(uint8_t _td); extern bool_t nav_select_touch_down(uint8_t _td);
sw/airborne/modules/nav/nav_gls.c
+2 -2
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@@ -132,7 +132,7 @@ static inline bool_t gls_compute_TOD(uint8_t _af, uint8_t _sd, uint8_t _tod, uin
} /* end of gls_copute_TOD */ } /* end of gls_copute_TOD */
bool_t gls_init(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) { bool_t gls_start(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
init = TRUE; init = TRUE;
@@ -157,7 +157,7 @@ bool_t gls_init(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
} /* end of gls_init() */ } /* end of gls_init() */
bool_t gls(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) { bool_t gls_run(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
// set target speed for approach on final // set target speed for approach on final
sw/airborne/modules/nav/nav_gls.h
+2 -2
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@@ -30,7 +30,7 @@
#include "std.h" #include "std.h"
#include "paparazzi.h" #include "paparazzi.h"
extern bool_t gls_init(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td); extern bool_t gls_start(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td);
extern bool_t gls(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td); extern bool_t gls_run(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td);
#endif // NAV_GLS_H #endif // NAV_GLS_H
sw/airborne/modules/nav/nav_line.c
+2 -2
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@@ -33,12 +33,12 @@
enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
static enum line_status line_status; static enum line_status line_status;
bool_t nav_line_init( void ) { bool_t nav_line_start( void ) {
line_status = LR12; line_status = LR12;
return FALSE; return FALSE;
} }
bool_t nav_line(uint8_t l1, uint8_t l2, float radius) { bool_t nav_line_run(uint8_t l1, uint8_t l2, float radius) {
radius = fabs(radius); radius = fabs(radius);
float alt = waypoints[l1].a; float alt = waypoints[l1].a;
waypoints[l2].a = alt; waypoints[l2].a = alt;
sw/airborne/modules/nav/nav_line.h
+2 -2
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@@ -30,7 +30,7 @@
#include "std.h" #include "std.h"
extern bool_t nav_line_init( void ); extern bool_t nav_line_start( void );
extern bool_t nav_line(uint8_t wp1, uint8_t wp2, float radius); extern bool_t nav_line_run(uint8_t wp1, uint8_t wp2, float radius);
#endif /* NAV_LINE_H */ #endif /* NAV_LINE_H */