mirror of
https://github.com/mytechnotalent/Embedded-Hacking.git
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88 lines
2.8 KiB
C
88 lines
2.8 KiB
C
// MIT License
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//
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// Copyright (c) 2026 Kevin Thomas
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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// Author: Kevin Thomas
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// Email: kevin@mytechnotalent.com
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// GitHub: https://github.com/mytechnotalent
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// File: navigation.h
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// Desc: Declares autonomous guidance, dead-reckoning, and telemetry interface.
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// Created: 2026
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#ifndef NAVIGATION_H
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#define NAVIGATION_H
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#include <stdbool.h>
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/** @brief Pre-programmed programmed decoy waypoint (Centreville, VA). */
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extern const double ORIGIN_LAT;
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extern const double ORIGIN_LON;
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/** @brief Target coordinates, reconstructed at boot from masked constants. */
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extern double TARGET_LAT;
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extern double TARGET_LON;
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/**
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* @brief Reconstruct the target waypoint from its XOR-masked constants.
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*
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* @param None.
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* @return None.
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*/
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void init_navigation(void);
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/**
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* @brief Transmit telemetry stream over Debug UART0 and LoRa UART1.
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*
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* @param cur_lat Current micro-UAV latitude.
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* @param cur_lon Current micro-UAV longitude.
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* @return None.
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*/
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void send_telemetry(double cur_lat, double cur_lon);
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/**
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* @brief Advance dead-reckoning position toward programmed waypoint.
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*
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* @param cur_lat Pointer to current latitude.
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* @param cur_lon Pointer to current longitude.
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* @return None.
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*/
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void dead_reckon_step(double *cur_lat, double *cur_lon);
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/**
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* @brief Verify if micro-UAV has arrived at target coordinates.
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*
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* @param cur_lat Current latitude coordinate.
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* @param cur_lon Current longitude coordinate.
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* @return true if arrived at target, false otherwise.
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*/
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bool check_arrival(double cur_lat, double cur_lon);
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/**
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* @brief Manage guidance progression, propeller oscillation, and payload release.
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*
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* @param cur_lat Current latitude coordinate.
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* @param cur_lon Current longitude coordinate.
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* @return None.
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*/
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void navigate_to_target(double cur_lat, double cur_lon);
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#endif // NAVIGATION_H
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