static void send_circle(struct transport_tx *trans, struct link_device *dev)
{
if (nav_in_circle) {
pprz_msg_send_CIRCLE(trans, dev, AC_ID,
&nav_circle_x, &nav_circle_y, &nav_circle_radius);
}
}
static void send_circle(struct transport_tx *trans, struct link_device *dev)
{
if (gvf_trajectory.type == ELLIPSE &&
(gvf_trajectory.p[2] == gvf_trajectory.p[3])) {
pprz_msg_send_CIRCLE(trans, dev, AC_ID,
&gvf_trajectory.p[0], &gvf_trajectory.p[1],
&gvf_trajectory.p[2]);
}
}
static void send_nav_status(struct transport_tx *trans, struct link_device *dev)
{
float dist_home = sqrtf(dist2_to_home);
float dist_wp = sqrtf(dist2_to_wp);
pprz_msg_send_ROTORCRAFT_NAV_STATUS(trans, dev, AC_ID,
&block_time, &stage_time,
&dist_home, &dist_wp,
&nav_block, &nav_stage,
&horizontal_mode);
if (horizontal_mode == HORIZONTAL_MODE_ROUTE) {
float sx = POS_FLOAT_OF_BFP(nav_segment_start.x);
float sy = POS_FLOAT_OF_BFP(nav_segment_start.y);
float ex = POS_FLOAT_OF_BFP(nav_segment_end.x);
float ey = POS_FLOAT_OF_BFP(nav_segment_end.y);
pprz_msg_send_SEGMENT(trans, dev, AC_ID, &sx, &sy, &ex, &ey);
} else if (horizontal_mode == HORIZONTAL_MODE_CIRCLE) {
float cx = POS_FLOAT_OF_BFP(nav_circle_center.x);
float cy = POS_FLOAT_OF_BFP(nav_circle_center.y);
float r = POS_FLOAT_OF_BFP(nav_circle_radius);
pprz_msg_send_CIRCLE(trans, dev, AC_ID, &cx, &cy, &r);
}
}
