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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For every pair of "checkpoints" the path index is incremented once they are passed. The index is used to identify the data in a linked list through the wireless communications.
Implementation (Section needs to be updated [Will be done by Nov. 30])
Managing Path Data
All of the waypoints along the flightpath will be stored in the following structure:
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State machine calls the
get_next_directions()and passes in appropriate parameters (GPS data and pointer to the output data structure).Algorithm stuff [ADD LATER]
Waypoint manager updates the parameters in the
_WaypointManager_Data_Outstructure that was passed intoget_next_directions().
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