2010-12-26 20:59:17 -04:00
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
< html xmlns = "http://www.w3.org/1999/xhtml" >
< head >
< meta http-equiv = "Content-Type" content = "text/xhtml;charset=UTF-8" / >
< title > ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_Navigation/Navigation.h Source File< / title >
< link href = "tabs.css" rel = "stylesheet" type = "text/css" / >
2010-12-26 23:23:35 -04:00
< link href = "search/search.css" rel = "stylesheet" type = "text/css" / >
< script type = "text/javaScript" src = "search/search.js" > < / script >
2010-12-26 20:59:17 -04:00
< link href = "doxygen.css" rel = "stylesheet" type = "text/css" / >
< / head >
2010-12-26 23:23:35 -04:00
< body onload = 'searchBox.OnSelectItem(0);' >
2010-12-26 20:59:17 -04:00
<!-- Generated by Doxygen 1.7.1 -->
< div class = "navigation" id = "top" >
< div class = "tabs" >
< ul class = "tablist" >
< li > < a href = "main.html" > < span > Main Page< / span > < / a > < / li >
< li > < a href = "namespaces.html" > < span > Namespaces< / span > < / a > < / li >
< li > < a href = "annotated.html" > < span > Classes< / span > < / a > < / li >
< li class = "current" > < a href = "files.html" > < span > Files< / span > < / a > < / li >
< / ul >
< / div >
< div class = "tabs2" >
< ul class = "tablist" >
< li > < a href = "files.html" > < span > File List< / span > < / a > < / li >
< li > < a href = "globals.html" > < span > File Members< / span > < / a > < / li >
< / ul >
< / div >
< div class = "header" >
< div class = "headertitle" >
< h1 > /home/jgoppert/Projects/ap/libraries/AP_Navigation/Navigation.h< / h1 > < / div >
< / div >
< div class = "contents" >
< a href = "_navigation_8h.html" > Go to the documentation of this file.< / a > < div class = "fragment" > < pre class = "fragment" > < a name = "l00001" > < / a > 00001
< a name = "l00002" > < / a > 00002 < span class = "preprocessor" > #ifndef AP_NAVIGATION_h< / span >
< a name = "l00003" > < / a > 00003 < span class = "preprocessor" > < / span > < span class = "preprocessor" > #define AP_NAVIGATION_h< / span >
< a name = "l00004" > < / a > 00004 < span class = "preprocessor" > < / span >
< a name = "l00005" > < / a > < a class = "code" href = "_navigation_8h.html#a295b82827f88bc8115c34cfbb4650690" > 00005< / a > < span class = "preprocessor" > #define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter)< / span >
< a name = "l00006" > < / a > < a class = "code" href = "_navigation_8h.html#adfd3d7f59e272b76b8a1038f512862f0" > 00006< / a > < span class = "preprocessor" > < / span > < span class = "preprocessor" > #define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100< / span >
< a name = "l00007" > < / a > 00007 < span class = "preprocessor" > < / span > < span class = "preprocessor" > #include < < a class = "code" href = "_g_p_s_8h.html" title = "Interface definition for the various GPS drivers." > GPS.h< / a > > < / span > < span class = "comment" > // ArduPilot GPS Library< / span >
< a name = "l00008" > < / a > 00008 < span class = "preprocessor" > #include " < a class = "code" href = "_waypoints_8h.html" > Waypoints.h< / a > " < / span > < span class = "comment" > // ArduPilot Waypoints Library< / span >
< a name = "l00009" > < / a > 00009 < span class = "preprocessor" > #include " < a class = "code" href = "_w_program_8h.html" > WProgram.h< / a > " < / span >
< a name = "l00010" > < / a > 00010
< a name = "l00011" > < / a > < a class = "code" href = "_navigation_8h.html#a2ecc28a0523643551285b16c189518a0" > 00011< / a > < span class = "preprocessor" > #define T7 10000000< / span >
< a name = "l00012" > < / a > 00012 < span class = "preprocessor" > < / span >
< a name = "l00013" > < / a > < a class = "code" href = "class_navigation.html" > 00013< / a > < span class = "keyword" > class < / span > < a class = "code" href = "class_navigation.html" > Navigation< / a > {
< a name = "l00014" > < / a > 00014 < span class = "keyword" > public< / span > :
< a name = "l00015" > < / a > 00015 < a class = "code" href = "class_navigation.html#a128f871ef138c360fb2c73ffec72729f" > Navigation< / a > (< a class = "code" href = "class_g_p_s.html" title = "Abstract base class for GPS receiver drivers." > GPS< / a > *withGPS, < a class = "code" href = "class_waypoints.html" > Waypoints< / a > *withWP);
< a name = "l00016" > < / a > 00016
< a name = "l00017" > < / a > 00017 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a9d2b3544acc5bf511da32c3e6888acd5" > update_gps< / a > (< span class = "keywordtype" > void< / span > ); < span class = "comment" > // called 50 Hz< / span >
< a name = "l00018" > < / a > 00018 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a55010dc9ffe03ecba91bbfbb4e8f190c" > set_home< / a > (< a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > loc);
< a name = "l00019" > < / a > 00019 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a222cd205c6709681875cbb4efa2657f0" > set_next_wp< / a > (< a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > loc);
< a name = "l00020" > < / a > 00020 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a7d1a2aec8970bd7c4a6f26b4a31f69b1" > load_first_wp< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00021" > < / a > 00021 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a307d267e9ce8cc9c73e52dde8f02a5ca" > load_wp_with_index< / a > (uint8_t i);
< a name = "l00022" > < / a > 00022 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#ac1eb3234566b231e44a2a5fbc6d25ca9" > load_home< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00023" > < / a > 00023 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a3cb86f630e37f5d41467a23a7a8cf831" > return_to_home_with_alt< / a > (uint32_t alt);
< a name = "l00024" > < / a > 00024
< a name = "l00025" > < / a > 00025 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a99a4fd20cd5e7a0bf0fd8cfa5272e79f" > reload_wp< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00026" > < / a > 00026 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a360a3f5097cf11ba28f12df55031d7b0" > load_wp_index< / a > (uint8_t i);
< a name = "l00027" > < / a > 00027 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#ae916ccef7d89b09a972ceda58d5ef9b6" > hold_location< / a > ();
< a name = "l00028" > < / a > 00028 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#ad205d021d42786775c6b7d7e9d3c16f4" > set_wp< / a > (< a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > loc);
< a name = "l00029" > < / a > 00029
< a name = "l00030" > < / a > 00030 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a260152de551277ff2a980e63bbb14fbc" > set_hold_course< / a > (int16_t b); < span class = "comment" > // -1 deisables, 0-36000 enables< / span >
< a name = "l00031" > < / a > 00031 int16_t < a class = "code" href = "class_navigation.html#a60d4bee672c92c1e4cced76089836ebf" > get_hold_course< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00032" > < / a > 00032
< a name = "l00033" > < / a > 00033 int32_t < a class = "code" href = "class_navigation.html#ac05da5065688d7ef70452bbc4b8f8556" > get_distance< / a > (< a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > *loc1, < a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > *loc2);
< a name = "l00034" > < / a > 00034 int32_t < a class = "code" href = "class_navigation.html#acf7075f5eedf8f47ae88b7ae04bccb39" > get_bearing< / a > (< a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > *loc1, < a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > *loc2);
< a name = "l00035" > < / a > 00035 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a3719b4db98a8fdc08599eff7e8e819af" > set_bearing_error< / a > (int32_t error);
< a name = "l00036" > < / a > 00036
< a name = "l00037" > < / a > 00037 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#a9aba08c1a7b668b80f2f3df8795095b6" > set_loiter_vector< / a > (int16_t v);
< a name = "l00038" > < / a > 00038 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_navigation.html#ab1178280258ea8502960ffb5b4fb2815" > update_crosstrack< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00039" > < / a > 00039
< a name = "l00040" > < / a > 00040 int32_t < a class = "code" href = "class_navigation.html#abda1088bf8790dbcd31687ad4daf05b1" > wrap_180< / a > (int32_t error); < span class = "comment" > // utility< / span >
< a name = "l00041" > < / a > 00041 int32_t < a class = "code" href = "class_navigation.html#a5ae7eb15b8aa81aeb2e2771fec018d5f" > wrap_360< / a > (int32_t angle); < span class = "comment" > // utility< / span >
< a name = "l00042" > < / a > 00042
< a name = "l00043" > < / a > < a class = "code" href = "class_navigation.html#a327b5eb6bd65c8b1678b50d1002d95cb" > 00043< / a > int32_t < a class = "code" href = "class_navigation.html#a327b5eb6bd65c8b1678b50d1002d95cb" > bearing< / a > ; < span class = "comment" > // deg * 100 : 0 to 360 current desired bearing to navigate< / span >
< a name = "l00044" > < / a > < a class = "code" href = "class_navigation.html#a5131b103f30de83744a07575680ae8ec" > 00044< / a > int32_t < a class = "code" href = "class_navigation.html#a5131b103f30de83744a07575680ae8ec" > distance< / a > ; < span class = "comment" > // meters : distance plane to next waypoint< / span >
< a name = "l00045" > < / a > < a class = "code" href = "class_navigation.html#a5c655bff9637ea00a3dc3650cc1cf4f5" > 00045< / a > int32_t < a class = "code" href = "class_navigation.html#a5c655bff9637ea00a3dc3650cc1cf4f5" > altitude_above_home< / a > ; < span class = "comment" > // meters * 100 relative to home position< / span >
< a name = "l00046" > < / a > < a class = "code" href = "class_navigation.html#a820f2e9d1a143419eb8e92d76c5702b7" > 00046< / a > int32_t < a class = "code" href = "class_navigation.html#a820f2e9d1a143419eb8e92d76c5702b7" > total_distance< / a > ; < span class = "comment" > // meters : distance between waypoints< / span >
< a name = "l00047" > < / a > < a class = "code" href = "class_navigation.html#a82c620baabad8049cc58fbe95a34890c" > 00047< / a > int32_t < a class = "code" href = "class_navigation.html#a82c620baabad8049cc58fbe95a34890c" > bearing_error< / a > ; < span class = "comment" > // deg * 100 : 18000 to -18000 < / span >
< a name = "l00048" > < / a > < a class = "code" href = "class_navigation.html#a63e21494db8c2022f5ff488295f2f1fe" > 00048< / a > int32_t < a class = "code" href = "class_navigation.html#a63e21494db8c2022f5ff488295f2f1fe" > altitude_error< / a > ; < span class = "comment" > // deg * 100 : 18000 to -18000 < / span >
< a name = "l00049" > < / a > 00049
< a name = "l00050" > < / a > < a class = "code" href = "class_navigation.html#a2e0bfad230d48a39926571d5d455f139" > 00050< / a > int16_t < a class = "code" href = "class_navigation.html#a2e0bfad230d48a39926571d5d455f139" > loiter_sum< / a > ;
< a name = "l00051" > < / a > < a class = "code" href = "class_navigation.html#aa4cb8fedae77c0028012bf8284bb6217" > 00051< / a > < a class = "code" href = "struct_waypoints_1_1_w_p.html" > Waypoints::WP< / a > < a class = "code" href = "class_navigation.html#acaa6eea8382dda9ba39e0dc3960d5d37" > home< / a > , < a class = "code" href = "class_navigation.html#a4f1060bf77cfc499ec5d3169c4494095" > location< / a > , < a class = "code" href = "class_navigation.html#aa4cb8fedae77c0028012bf8284bb6217" > prev_wp< / a > , < a class = "code" href = "class_navigation.html#afd1dec04a84096681bf951df5edf72e0" > next_wp< / a > ;
< a name = "l00052" > < / a > 00052
< a name = "l00053" > < / a > 00053 < span class = "keyword" > private< / span > :
< a name = "l00054" > < / a > 00054 < span class = "keywordtype" > void< / span > calc_int32_t_scaling(int32_t lat);
< a name = "l00055" > < / a > 00055 < span class = "keywordtype" > void< / span > calc_bearing_error(< span class = "keywordtype" > void< / span > );
< a name = "l00056" > < / a > 00056 < span class = "keywordtype" > void< / span > calc_altitude_error(< span class = "keywordtype" > void< / span > );
< a name = "l00057" > < / a > 00057 < span class = "keywordtype" > void< / span > calc_distance_error(< span class = "keywordtype" > void< / span > );
< a name = "l00058" > < / a > 00058 < span class = "keywordtype" > void< / span > calc_long_scaling(int32_t lat);
< a name = "l00059" > < / a > 00059 < span class = "keywordtype" > void< / span > reset_crosstrack(< span class = "keywordtype" > void< / span > );
< a name = "l00060" > < / a > 00060
< a name = "l00061" > < / a > 00061 int16_t _old_bearing; < span class = "comment" > // used to track delta on the bearing< / span >
< a name = "l00062" > < / a > 00062 < a class = "code" href = "class_g_p_s.html" title = "Abstract base class for GPS receiver drivers." > GPS< / a > *_gps;
< a name = "l00063" > < / a > 00063 < a class = "code" href = "class_waypoints.html" > Waypoints< / a > *_wp;
< a name = "l00064" > < / a > 00064 int32_t _crosstrack_bearing; < span class = "comment" > // deg * 100 : 0 to 360 desired angle of plane to target< / span >
< a name = "l00065" > < / a > 00065 < span class = "keywordtype" > float< / span > _crosstrack_error; < span class = "comment" > // deg * 100 : 18000 to -18000 meters we are off trackline< / span >
< a name = "l00066" > < / a > 00066 int16_t _hold_course; < span class = "comment" > // deg * 100 dir of plane< / span >
< a name = "l00067" > < / a > 00067 int32_t _target_altitude; < span class = "comment" > // used for < / span >
< a name = "l00068" > < / a > 00068 int32_t _offset_altitude; < span class = "comment" > // used for < / span >
< a name = "l00069" > < / a > 00069 < span class = "keywordtype" > float< / span > _altitude_estimate;
< a name = "l00070" > < / a > 00070 < span class = "keywordtype" > float< / span > _scaleLongUp; < span class = "comment" > // used to reverse int32_ttitude scaling< / span >
< a name = "l00071" > < / a > 00071 < span class = "keywordtype" > float< / span > _scaleLongDown; < span class = "comment" > // used to reverse int32_ttitude scaling < / span >
< a name = "l00072" > < / a > 00072 int16_t _loiter_delta;
< a name = "l00073" > < / a > 00073 };
< a name = "l00074" > < / a > 00074
< a name = "l00075" > < / a > 00075
< a name = "l00076" > < / a > 00076 < span class = "preprocessor" > #endif // AP_NAVIGATION_h< / span >
< / pre > < / div > < / div >
< / div >
2010-12-26 23:23:35 -04:00
< hr class = "footer" / > < address class = "footer" > < small >
Generated for ArduPilot Libraries by < a href = "http://www.doxygen.org/index.html" > < img class = "footer" src = "doxygen.png" alt = "doxygen" / > < / a > < / small > < / address >
2010-12-26 20:59:17 -04:00
< / body >
< / html >
