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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
64 lines
1.7 KiB
C
64 lines
1.7 KiB
C
#ifndef GENERATED_FLIGHT_PLAN_H
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#define GENERATED_FLIGHT_PLAN_H
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#include "std.h"
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#include "generated/modules.h"
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#include "modules/core/abi.h"
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#include "autopilot.h"
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#define NAV_DEFAULT_ALT 260 /* nominal altitude of the flight plan */
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#define NAV_UTM_EAST0 360285
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#define NAV_UTM_NORTH0 4813595
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#define NAV_UTM_ZONE0 31
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#define NAV_LAT0 434622300 /* 1e7deg */
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#define NAV_LON0 12728900 /* 1e7deg */
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#define NAV_ALT0 185000 /* mm above msl */
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#define NAV_MSL0 51850 /* mm, EGM96 geoid-height (msl) over ellipsoid */
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#define QFU 0.0
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#define WP_dummy 0
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#define WP_HOME 1
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#define WAYPOINTS_UTM { \
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{42.0, 42.0, 260},\
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{0.0, 0.0, 260},\
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};
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#define WAYPOINTS_ENU { \
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{41.13, 42.87, 75.00}, /* ENU in meters */ \
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{-0.00, -0.00, 75.00}, /* ENU in meters */ \
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};
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#define WAYPOINTS_LLA { \
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{.lat=434626158, .lon=12733981, .alt=260000}, /* 1e7deg, 1e7deg, mm (above NAV_MSL0, local msl=51.85m) */ \
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{.lat=434622299, .lon=12728900, .alt=260000}, /* 1e7deg, 1e7deg, mm (above NAV_MSL0, local msl=51.85m) */ \
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};
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#define WAYPOINTS_LLA_WGS84 { \
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{.lat=434626158, .lon=12733981, .alt=311850}, /* 1e7deg, 1e7deg, mm (above WGS84 ref ellipsoid) */ \
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{.lat=434622299, .lon=12728900, .alt=311850}, /* 1e7deg, 1e7deg, mm (above WGS84 ref ellipsoid) */ \
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};
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#define WAYPOINTS_GLOBAL { \
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FALSE, \
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FALSE, \
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};
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#define NB_WAYPOINT 2
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#define FP_BLOCKS { \
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"Wait GPS" , \
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"HOME" , \
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}
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#define NB_BLOCK 2
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#define GROUND_ALT 185.
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#define GROUND_ALT_CM 18500
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#define SECURITY_HEIGHT 25.
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#define SECURITY_ALT 210.
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#define HOME_MODE_HEIGHT 25.
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#define MAX_DIST_FROM_HOME 1500.
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#ifdef NAV_C
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static inline void auto_nav_init(void) {}
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static inline void auto_nav(void) {}
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#endif
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#endif // GENERATED_FLIGHT_PLAN_H
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