src/main/flight/navigation.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 // navigation mode
  21 typedef enum {
  22     NAV_MODE_NONE = 0,
  23     NAV_MODE_POSHOLD,
  24     NAV_MODE_WP
  25 } navigationMode_e;
  26
  27 // FIXME ap_mode is badly named, it's a value that is compared to rcCommand, not a flag at it's name implies.
  28
  29 typedef struct gpsProfile_s {
  30     uint16_t gps_wp_radius;                 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
  31     uint8_t gps_lpf;                        // Low pass filter cut frequency for derivative calculation (default 20Hz)
  32     uint8_t nav_slew_rate;                  // Adds a rate control to nav output, will smoothen out nav angle spikes
  33     uint8_t nav_controls_heading;           // copter faces toward the navigation point, maghold must be enabled for it
  34     uint16_t nav_speed_min;                 // cm/sec
  35     uint16_t nav_speed_max;                 // cm/sec
  36     uint16_t ap_mode;                       // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
  37 } gpsProfile_t;
  38
  39 extern int16_t GPS_angle[ANGLE_INDEX_COUNT];                // it's the angles that must be applied for GPS correction
  40
  41 extern int32_t GPS_home[2];
  42 extern int32_t GPS_hold[2];
  43
  44 extern uint16_t GPS_distanceToHome;        // distance to home point in meters
  45 extern int16_t GPS_directionToHome;        // direction to home or hol point in degrees
  46
  47 extern navigationMode_e nav_mode;          // Navigation mode
  48
  49 void GPS_reset_home_position(void);
  50 void GPS_reset_nav(void);
  51 void GPS_set_next_wp(int32_t* lat, int32_t* lon);
  52 void gpsUseProfile(gpsProfile_t *gpsProfileToUse);
  53 void gpsUsePIDs(pidProfile_t *pidProfile);
  54 void updateGpsStateForHomeAndHoldMode(void);
  55 void updateGpsWaypointsAndMode(void);
  56
  57 void onGpsNewData(void);