AP_Navigation Class Reference

#include <AP_Navigation.h>

Inheritance diagram for AP_Navigation:

Public Types
enum	ControllerType { CONTROLLER_DEFAULT = 0, CONTROLLER_L1 = 1 }

Public Member Functions
virtual int32_t	nav_roll_cd (void) const =0
virtual float	lateral_acceleration (void) const =0
virtual int32_t	nav_bearing_cd (void) const =0
virtual int32_t	bearing_error_cd (void) const =0
virtual int32_t	target_bearing_cd (void) const =0
virtual float	crosstrack_error (void) const =0
virtual float	crosstrack_error_integrator (void) const
virtual float	turn_distance (float wp_radius) const =0
virtual float	turn_distance (float wp_radius, float turn_angle) const =0
virtual float	loiter_radius (const float radius) const =0
virtual void	update_waypoint (const struct Location &prev_WP, const struct Location &next_WP, float dist_min=0.0f)=0
virtual void	update_loiter (const struct Location &center_WP, float radius, int8_t loiter_direction)=0
virtual void	update_heading_hold (int32_t navigation_heading_cd)=0
virtual void	update_level_flight (void)=0
virtual bool	reached_loiter_target (void)=0
virtual void	set_data_is_stale (void)=0
virtual bool	data_is_stale (void) const =0
virtual void	set_reverse (bool reverse)=0

Detailed Description

Definition at line 14 of file AP_Navigation.h.

Member Enumeration Documentation

ControllerType

enum AP_Navigation::ControllerType

Enumerator
CONTROLLER_DEFAULT
CONTROLLER_L1

Definition at line 122 of file AP_Navigation.h.

Member Function Documentation

bearing_error_cd()

virtual int32_t AP_Navigation::bearing_error_cd ( void  ) const

pure virtual

Implemented in AP_L1_Control.

Referenced by AP_Landing::type_slope_verify_land().

Here is the caller graph for this function:

crosstrack_error()

virtual float AP_Navigation::crosstrack_error ( void  ) const

pure virtual

Implemented in AP_L1_Control.

Referenced by AP_Landing::type_slope_verify_land().

Here is the caller graph for this function:

crosstrack_error_integrator()

virtual float AP_Navigation::crosstrack_error_integrator ( void  ) const

inlinevirtual

Reimplemented in AP_L1_Control.

Definition at line 47 of file AP_Navigation.h.

Here is the call graph for this function:

data_is_stale()

virtual bool AP_Navigation::data_is_stale ( void  ) const

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator(), and AP_Landing::type_slope_verify_land().

Here is the caller graph for this function:

lateral_acceleration()

virtual float AP_Navigation::lateral_acceleration ( void  ) const

pure virtual

Implemented in AP_L1_Control.

loiter_radius()

virtual float AP_Navigation::loiter_radius ( const float  radius ) const

pure virtual

Implemented in AP_L1_Control.

Referenced by AP_Landing_Deepstall::build_approach_path(), and crosstrack_error_integrator().

Here is the caller graph for this function:

nav_bearing_cd()

virtual int32_t AP_Navigation::nav_bearing_cd ( void  ) const

pure virtual

Implemented in AP_L1_Control.

nav_roll_cd()

virtual int32_t AP_Navigation::nav_roll_cd ( void  ) const

pure virtual

Implemented in AP_L1_Control.

reached_loiter_target()

virtual bool AP_Navigation::reached_loiter_target ( void  )

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator(), and AP_Landing_Deepstall::verify_land().

Here is the caller graph for this function:

set_data_is_stale()

virtual void AP_Navigation::set_data_is_stale ( void  )

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator().

Here is the caller graph for this function:

set_reverse()

virtual void AP_Navigation::set_reverse ( bool  reverse )

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator().

Here is the caller graph for this function:

target_bearing_cd()

virtual int32_t AP_Navigation::target_bearing_cd ( void  ) const

pure virtual

Implemented in AP_L1_Control.

Referenced by AP_Landing_Deepstall::verify_land().

Here is the caller graph for this function:

turn_distance() [1/2]

virtual float AP_Navigation::turn_distance ( float  wp_radius ) const

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator().

Here is the caller graph for this function:

turn_distance() [2/2]

virtual float AP_Navigation::turn_distance ( float  wp_radius, float  turn_angle  ) const

pure virtual

Implemented in AP_L1_Control.

update_heading_hold()

virtual void AP_Navigation::update_heading_hold ( int32_t  navigation_heading_cd )

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator(), AP_Landing::type_slope_verify_abort_landing(), and AP_Landing_Deepstall::verify_abort_landing().

Here is the caller graph for this function:

update_level_flight()

virtual void AP_Navigation::update_level_flight ( void  )

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator().

Here is the caller graph for this function:

update_loiter()

virtual void AP_Navigation::update_loiter ( const struct Location &  center_WP, float  radius, int8_t  loiter_direction  )

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator(), and AP_Landing_Deepstall::verify_land().

Here is the caller graph for this function:

update_waypoint()

virtual void AP_Navigation::update_waypoint ( const struct Location &  prev_WP, const struct Location &  next_WP, float  dist_min = 0.0f  )

pure virtual

Implemented in AP_L1_Control.

Referenced by crosstrack_error_integrator(), AP_Landing::type_slope_verify_land(), and AP_Landing_Deepstall::verify_land().

Here is the caller graph for this function:

---

The documentation for this class was generated from the following file:

• libraries/AP_Navigation/AP_Navigation.h