navigation_t Struct Reference

The navigation structure. More...

#include <navigation.h>

Collaboration diagram for navigation_t:

Public Attributes
float	dist2vel_gain
	The gain linking the distance to the goal to the actual speed.
pid_controller_t	hovering_controller
	hovering controller
pid_controller_t	wpt_nav_controller
	waypoint navigation controller
float	cruise_speed
	The cruise speed in m/s.
float	max_climb_rate
	Max climb rate in m/s.
float	soft_zone_size
	Soft zone of the velocity controller.
float	dt
	The time interval between two navigation updates.
uint32_t	last_update
	The time of the last navigation update in ms.
float	alt_lpf
	The low-pass filtered altitude for auto-landing.
float	LPF_gain
	The value of the low-pass filter gain.
uint8_t	loop_count
	A counter for sending MAVLink messages at a lower rate than the function.
mav_mode_t	mode
	The mode of the MAV to have a memory of its evolution.
bool	auto_takeoff
	The flag to start and end the auto takeoff procedure.
bool	auto_landing
	The flag to start and end the auto landing procedure.
critical_behavior_enum	critical_behavior
	The critical behavior enum.
auto_landing_behavior_t	auto_landing_behavior
	The autolanding behavior enum.
bool	critical_next_state
	Flag to change critical state in its dedicated state machine.
bool	auto_landing_next_state
	Flag to change critical state in its dedicated state machine.
bool	stop_nav
	Flag to start/stop the navigation from a button in case of problems.
bool	stop_nav_there
	Flag to stop the navigation and fly to the stopping waypoint.
control_command_t *	controls_nav
	The pointer to the navigation control structure.
const control_command_t *	control_joystick
	The pointer to the joystick control structure.
const quat_t *	qe
	The pointer to the attitude quaternion structure.
mavlink_waypoint_handler_t *	waypoint_handler
	The pointer to the waypoint handler structure.
const position_estimation_t *	position_estimation
	The pointer to the position estimation structure in central_data.
state_t *	state
	The pointer to the state structure in central_data.
const mavlink_stream_t *	mavlink_stream
	The pointer to the MAVLink stream structure.
remote_t *	remote
	The pointer to the remote structure.

Detailed Description

The navigation structure.

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

• /run/media/julien/Data/Documents/MAVRIC/MAVRIC_Library/control/navigation.h