src/main/navigation/rth_trackback.h

   1 /*
   2  * This file is part of INAV.
   3  *
   4  * INAV is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * INAV is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/vector.h"
  21
  22 #define NAV_RTH_TRACKBACK_POINTS                50 // max number RTH trackback points
  23 #define NAV_RTH_TRACKBACK_MIN_DIST_TO_START     50 // start recording when some distance from home (meters)
  24 #define NAV_RTH_TRACKBACK_MIN_XY_DIST_TO_SAVE   20 // minimum XY distance between two points to store in the buffer (meters)
  25 #define NAV_RTH_TRACKBACK_MIN_Z_DIST_TO_SAVE    10 // minimum Z distance between two points to store in the buffer (meters)
  26 #define NAV_RTH_TRACKBACK_MIN_TRIP_DIST_TO_SAVE 10 // minimum trip distance between two points to store in the buffer (meters)
  27
  28 typedef struct
  29 {
  30     fpVector3_t pointsList[NAV_RTH_TRACKBACK_POINTS]; // buffer of points stored
  31     int16_t lastSavedIndex;                           // last trackback point index saved
  32     int16_t activePointIndex;                         // trackback points counter
  33     int16_t WrapAroundCounter;                        // stores trackpoint array overwrite index position
  34 } rth_trackback_t;
  35
  36 extern rth_trackback_t rth_trackback;
  37
  38 bool rthTrackBackCanBeActivated(void);
  39 bool rthTrackBackSetNewPosition(void);
  40 void rthTrackBackUpdate(bool forceSaveTrackPoint);
  41 fpVector3_t *getRthTrackBackPosition(void);
  42 void resetRthTrackBack(void);