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https://github.com/paparazzi/paparazzi.git
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4ae40567ed
- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
37 lines
1.3 KiB
XML
37 lines
1.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_spiral_3D" dir="nav">
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<doc>
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<description>
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Fixedwing navigation in a 3D spiral.
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creating a helix:
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- start center (X, Y)
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- start and stop altitude
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- start and stop radius
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- 3D speed of the circle
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- in case alt diff is too small, vz is used as expension speed at constant altitude
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- in case of radius diff too small, doing a constant radius circle
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- if alt diff is too small, basic circle with horizontal speed (vz as no effect)
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setup will fail if:
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- alt diff and vz are not coherent
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- vz is too small and not doing circle
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</description>
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<section name="NAV_SPIRAL_3D" prefix="NAV_SPIRAL_3D_">
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<define name="DIST_DIFF" value="10." description="horizontal distance to start and stop pattern"/>
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<define name="ALT_DIFF" value="10." description="vertical distance to start and stop pattern"/>
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<define name="MIN_CIRCLE_RADIUS" value="60." description="minium circle radius in meters"/>
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</section>
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</doc>
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<dep>
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<depends>@navigation</depends>
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<recommends>@mission</recommends>
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</dep>
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<header>
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<file name="nav_spiral_3D.h"/>
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</header>
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<init fun="nav_spiral_3D_init()"/>
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<makefile target="ap|sim|nps">
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<file name="nav_spiral_3D.c"/>
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</makefile>
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</module>
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