Rohit Sant
39 linhas
1.1 KiB
C++
39 linhas
1.1 KiB
C++
/*! @file FlightControlSample.h
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* @version 3.3
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* @date May 2017
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*
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* @brief
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* Flight control STM32 example.
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*
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* Copyright 2016 DJI. All right reserved.
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*
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* */
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#ifndef FLIGHTCONTROLSAMPLE_H
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#define FLIGHTCONTROLSAMPLE_H
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#include "BspUsart.h"
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#include "timer.h"
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#include "dji_vehicle.hpp"
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#include <math.h>
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using namespace DJI::OSDK;
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#define C_EARTH (double)6378137.0
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#define DEG2RAD 0.01745329252
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bool monitoredTakeOff();
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bool monitoredLanding();
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int moveByPositionOffset(float xOffsetDesired, float yOffsetDesired,
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float zOffsetDesired, float yawDesired,
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float posThresholdInM = 0.2,
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float yawThresholdInDeg = 1.0);
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//! Helper functions
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void localOffsetFromGpsOffset(Telemetry::Vector3f& deltaNed,
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Telemetry::GPSFused& target,
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Telemetry::GPSFused& origin);
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Telemetry::Vector3f toEulerAngle(
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Telemetry::TypeMap<Telemetry::TOPIC_QUATERNION>::type &quaternionData);
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#endif // FLIGHTCONTROLSAMPLE_H
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