59 lines
1.6 KiB
C
59 lines
1.6 KiB
C
/*
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Paparazzi mcu0 $Id: nav.h,v 1.1 2011-01-18 12:48:39 moellmer Exp $
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Copyright (C) 2003 Pascal Brisset, Antoine Drouin
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This file is part of paparazzi.
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paparazzi is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2, or (at your option)
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any later version.
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paparazzi is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with paparazzi; see the file COPYING. If not, write to
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the Free Software Foundation, 59 Temple Place - Suite 330,
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Boston, MA 02111-1307, USA.
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*/
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#ifndef NAV_H
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#define NAV_H
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#include <std.h>
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struct point {
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float x;
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float y;
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float a;
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};
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extern float cur_pos_x;
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extern float cur_pos_y;
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extern uint8_t nav_stage, nav_block;
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extern float dist2_to_wp, dist2_to_home;
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extern const int32_t nav_east0;
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extern const int32_t nav_north0;
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extern const uint8_t nb_waypoint;
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extern struct point waypoints[];
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extern float desired_altitude, desired_x, desired_y;
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extern uint16_t nav_desired_gaz;
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extern float nav_pitch, rc_pitch;
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extern bool_t too_far_from_home;
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extern uint16_t stage_time, block_time; /* s */
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extern float stage_time_ds; /* s */
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extern float nav_desired_roll;
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void nav_update( void );
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void nav_home( void );
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void nav_init( void );
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#endif /* NAV_H */
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