Overview
This module determines the desired heading and altitude of the aircraft and manages the waypoints (also called “path nodes”) of the plane’s flight path. The module takes in GPS coordinates and altitude measurements and calculates the heading and altitude the plane needs to stay on course. Additionally, the module takes instructions from the state machine to modify the waypoints in the plane’s flight path.
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Figuring out where the tangent will touch requires some basic trigonometry. [WILL TOUCH ON LATER]. The coordinates at which this occurs can be calculated using:
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These functions are executed by calling the following function. Note that not all parameters will be used for each modification to the waypointBuffer array. The goal of this function is to call the appropriate function listed above and pass in the required data.
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enum _WaypointBufferUpdateType {ADD_WAYPOINT = 0, UPDATE_WAYPOINT, INSERT_WAYPOINT, DELETE_WAYPOINT};
/*
* Public function!
* @param _WaypointData* waypoint -> In the instance that we need to update, insert, or append a new waypoint, this will be used
* @param int waypointId -> the ID of the waypoint that will be updated or deleted
* @param _WaypointBufferUpdateType updateType -> the type of modification to the waypointBuffer array (look above)
* @param int previousId -> stores the ID of the waypoint that will come before the inserted waypoint. Set to 0 by default, so does not need to be passed
* @param int nextId -> stores the ID of the waypoint that will come after the inserted waypoint. Set to 0 by default, so does not need to be passed
*/
void update_path_nodes(_WaypointData* waypoint, int waypointId, _WaypointBufferUpdateType updateType, int previousId = 0, int nextId = 0); |
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