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74 lines
2.8 KiB
74 lines
2.8 KiB
12 years ago
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Doug Weibel <douglas.weibel@colorado.edu>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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@author Thomas Gubler <thomasgubler@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file fixedwing_pos_control.h
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* Position control for fixed wing airframes.
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*/
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#ifndef FIXEDWING_POS_CONTROL_H_
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#define FIXEDWING_POS_CONTROL_H_
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/actuator_controls.h>
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#endif
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struct planned_path_segments_s {
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bool segment_type;
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double start_lat; // Start of line or center of arc
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double start_lon;
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double end_lat;
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double end_lon;
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float radius; // Radius of arc
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float arc_start_bearing; // Bearing from center to start of arc
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float arc_sweep; // Angle (radians) swept out by arc around center.
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// Positive for clockwise, negative for counter-clockwise
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};
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float _wrap180(float bearing);
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float _wrap360(float bearing);
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float _wrapPI(float bearing);
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float _wrap2PI(float bearing);
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/* FIXEDWING_CONTROL_H_ */
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