pathplanner.c File Reference

Simple path planner which activates a sequence of waypoints. More...

#include "openpilot.h"
#include "physical_constants.h"
#include "paths.h"
#include "flightstatus.h"
#include "pathdesired.h"
#include "pathplannersettings.h"
#include "pathstatus.h"
#include "positionactual.h"
#include "waypoint.h"
#include "waypointactive.h"
#include "modulesettings.h"
#include "pios_thread.h"
#include "pios_queue.h"

Go to the source code of this file.

Macros
#define	STACK_SIZE_BYTES   1024
#define	TASK_PRIORITY   PIOS_THREAD_PRIO_LOW
#define	MAX_QUEUE_SIZE   2
#define	UPDATE_RATE_MS   20

Functions
static void	advanceWaypoint ()
static void	activateWaypoint (int idx)
static void	pathPlannerTask (void *parameters)
static void	process_pp_settings ()
static void	waypointsUpdated (const UAVObjEvent *ev, void *ctx, void *obj, int len)
static void	pathStatusUpdated (const UAVObjEvent *ev, void *ctx, void *obj, int len)
static void	createPathBox ()
static void	createPathLogo ()
int32_t	PathPlannerStart ()
int32_t	PathPlannerInitialize ()
static void	holdCurrentPosition ()
static void	holdPosition (uint32_t idx)
static bool	waypointValid (int32_t idx)

Variables
static struct pios_thread *	taskHandle
static struct pios_queue *	queue
static PathPlannerSettingsData	pathPlannerSettings
static WaypointActiveData	waypointActive
static WaypointData	waypoint
static bool	path_completed
static bool	module_enabled
static volatile bool	pathplanner_config_dirty
static int32_t	active_waypoint = -1
	Store which waypoint has actually been pushed into PathDesired. More...
static int32_t	previous_waypoint = -1
	Store the previous waypoint which is used to determine the path trajectory. More...

Detailed Description

Simple path planner which activates a sequence of waypoints.

Author

Tau Labs, http://taulabs.org, Copyright (C) 2013-2014

dRonin, http://dronin.org Copyright (C) 2015

Definition in file pathplanner.c.