static void send_wp_moved(struct transport_tx *trans, struct link_device *dev) { static uint8_t i; i++; if (i >= nb_waypoint) { i = 0; } DownlinkSendWp(trans, dev, i); }
bool_t nav_catapult(uint8_t _to, uint8_t _climb) { float alt = WaypointAlt(_climb); nav_catapult_armed = 1; // No Roll, Climb Pitch, No motor Phase if (nav_catapult_launch <= nav_catapult_motor_delay) { NavAttitude(RadOfDeg(0)); NavVerticalAutoThrottleMode(nav_catapult_initial_pitch); NavVerticalThrottleMode(9600*(0)); // Store take-off waypoint WaypointX(_to) = GetPosX(); WaypointY(_to) = GetPosY(); WaypointAlt(_to) = GetPosAlt(); nav_catapult_x = stateGetPositionEnu_f()->x; nav_catapult_y = stateGetPositionEnu_f()->y; } // No Roll, Climb Pitch, Full Power else if (nav_catapult_launch < nav_catapult_heading_delay) { NavAttitude(RadOfDeg(0)); NavVerticalAutoThrottleMode(nav_catapult_initial_pitch); NavVerticalThrottleMode(9600*(nav_catapult_initial_throttle)); } // Normal Climb: Heading Locked by Waypoint Target else if (nav_catapult_launch == 0xffff) { NavVerticalAltitudeMode(alt, 0); // vertical mode (folow glideslope) NavVerticalAutoThrottleMode(0); // throttle mode NavGotoWaypoint(_climb); // horizontal mode (stay on localiser) } else { // Store Heading, move Climb nav_catapult_launch = 0xffff; float dir_x = stateGetPositionEnu_f()->x - nav_catapult_x; float dir_y = stateGetPositionEnu_f()->y - nav_catapult_y; float dir_L = sqrt(dir_x * dir_x + dir_y * dir_y); WaypointX(_climb) = nav_catapult_x + (dir_x / dir_L) * 300; WaypointY(_climb) = nav_catapult_y + (dir_y / dir_L) * 300; DownlinkSendWp(DefaultChannel, DefaultDevice, _climb); } return TRUE; } // end of gls()
bool_t nav_catapult(uint8_t _to, uint8_t _climb) { float alt = WaypointAlt(_climb); nav_catapult_armed = 1; // No Roll, Climb Pitch, No motor Phase 零滚转 府仰爬行 没有电机阶段 if (nav_catapult_launch <= nav_catapult_motor_delay * NAV_CATAPULT_HIGHRATE_MODULE_FREQ) { NavAttitude(RadOfDeg(0)); //高度设置 NavVerticalAutoThrottleMode(nav_catapult_initial_pitch); //自动油门模式 NavVerticalThrottleMode(9600*(0)); //设定油门 // Store take-off waypoint 存储起飞点 WaypointX(_to) = GetPosX(); //获得x坐标 WaypointY(_to) = GetPosY(); //获得y坐标 WaypointAlt(_to) = GetPosAlt(); //获得高度 nav_catapult_x = stateGetPositionEnu_f()->x; //起飞点x坐标 nav_catapult_y = stateGetPositionEnu_f()->y; //起飞点y坐标 } // No Roll, Climb Pitch, Full Power 零滚转 府仰爬行 满油门 else if (nav_catapult_launch < nav_catapult_heading_delay * NAV_CATAPULT_HIGHRATE_MODULE_FREQ) { NavAttitude(RadOfDeg(0)); //高度设置 NavVerticalAutoThrottleMode(nav_catapult_initial_pitch); //自动油门模式 NavVerticalThrottleMode(9600*(nav_catapult_initial_throttle)); //设定油门 } // Normal Climb: Heading Locked by Waypoint Target // 正常爬行:锁定给定航点 else if (nav_catapult_launch == 0xffff) { NavVerticalAltitudeMode(alt, 0); // vertical mode (folow glideslope) 水平模式(跟随滑坡) NavVerticalAutoThrottleMode(0); // throttle mode 油门模式 NavGotoWaypoint(_climb); // horizontal mode (stay on localiser) 垂直模式(保持定位) } else { // Store Heading, move Climb nav_catapult_launch = 0xffff; float dir_x = stateGetPositionEnu_f()->x - nav_catapult_x; float dir_y = stateGetPositionEnu_f()->y - nav_catapult_y; float dir_L = sqrt(dir_x * dir_x + dir_y * dir_y); WaypointX(_climb) = nav_catapult_x + (dir_x / dir_L) * 300; WaypointY(_climb) = nav_catapult_y + (dir_y / dir_L) * 300; DownlinkSendWp(DefaultChannel, DefaultDevice, _climb); } return TRUE; }
static void send_wp_moved(void) { static uint8_t i; i++; if (i >= nb_waypoint) i = 0; DownlinkSendWp(DefaultChannel, DefaultDevice, i); }
bool_t DownlinkSendWpNr(uint8_t _wp) { DownlinkSendWp(&(DefaultChannel).trans_tx, &(DefaultDevice).device, _wp); return FALSE; }
void DownlinkSendWpNr(uint8_t _wp) { if (_wp >= nb_waypoint) return; DownlinkSendWp(&(DefaultChannel).trans_tx, &(DefaultDevice).device, _wp); }