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76 lines
2.6 KiB
76 lines
2.6 KiB
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#ifndef AP_NAVIGATION_h |
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#define AP_NAVIGATION_h |
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#define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter) |
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#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100 |
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#include <GPS.h> // ArduPilot GPS Library |
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#include "Waypoints.h" // ArduPilot Waypoints Library |
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#include "WProgram.h" |
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#define T7 10000000 |
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class Navigation { |
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public: |
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Navigation(GPS *withGPS, Waypoints *withWP); |
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void update_gps(void); // called 50 Hz |
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void set_home(Waypoints::WP loc); |
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void set_next_wp(Waypoints::WP loc); |
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void load_first_wp(void); |
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void load_wp_with_index(uint8_t i); |
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void load_home(void); |
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void return_to_home_with_alt(uint32_t alt); |
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void reload_wp(void); |
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void load_wp_index(uint8_t i); |
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void hold_location(); |
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void set_wp(Waypoints::WP loc); |
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void set_hold_course(int16_t b); // -1 deisables, 0-36000 enables |
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int16_t get_hold_course(void); |
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int32_t get_distance(Waypoints::WP *loc1, Waypoints::WP *loc2); |
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int32_t get_bearing(Waypoints::WP *loc1, Waypoints::WP *loc2); |
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void set_bearing_error(int32_t error); |
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void set_loiter_vector(int16_t v); |
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void update_crosstrack(void); |
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int32_t wrap_180(int32_t error); // utility |
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int32_t wrap_360(int32_t angle); // utility |
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int32_t bearing; // deg * 100 : 0 to 360 current desired bearing to navigate |
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int32_t distance; // meters : distance plane to next waypoint |
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int32_t altitude_above_home; // meters * 100 relative to home position |
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int32_t total_distance; // meters : distance between waypoints |
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int32_t bearing_error; // deg * 100 : 18000 to -18000 |
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int32_t altitude_error; // deg * 100 : 18000 to -18000 |
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int16_t loiter_sum; |
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Waypoints::WP home, location, prev_wp, next_wp; |
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private: |
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void calc_int32_t_scaling(int32_t lat); |
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void calc_bearing_error(void); |
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void calc_altitude_error(void); |
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void calc_distance_error(void); |
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void calc_long_scaling(int32_t lat); |
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void reset_crosstrack(void); |
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int16_t _old_bearing; // used to track delta on the bearing |
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GPS *_gps; |
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Waypoints *_wp; |
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int32_t _crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target |
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float _crosstrack_error; // deg * 100 : 18000 to -18000 meters we are off trackline |
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int16_t _hold_course; // deg * 100 dir of plane |
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int32_t _target_altitude; // used for |
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int32_t _offset_altitude; // used for |
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float _altitude_estimate; |
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float _scaleLongUp; // used to reverse int32_ttitude scaling |
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float _scaleLongDown; // used to reverse int32_ttitude scaling |
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int16_t _loiter_delta; |
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}; |
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#endif // AP_NAVIGATION_h
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