C++ (Cpp) pprz_msg_send_SEGMENT 예제들

예제 #1

파일: nav.c 프로젝트: bartremes/paparazzi

static void send_segment(struct transport_tx *trans, struct link_device *dev)
{
  if (nav_in_segment) {
    pprz_msg_send_SEGMENT(trans, dev, AC_ID,
                          &nav_segment_x_1, &nav_segment_y_1, &nav_segment_x_2, &nav_segment_y_2);
  }
}

예제 #2

파일: gvf.c 프로젝트: EwoudSmeur/paparazzi

static void send_segment(struct transport_tx *trans, struct link_device *dev)
{
  if (gvf_trajectory.type == LINE && gvf_segment.seg == 1) {
    pprz_msg_send_SEGMENT(trans, dev, AC_ID,
                          &gvf_segment.x1, &gvf_segment.y1,
                          &gvf_segment.x2, &gvf_segment.y2);
  }
}

예제 #3

파일: navigation.c 프로젝트: dohamann/paparazzi

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);
  }
}