Paparazzi UAS  v5.15_devel-46-gd23ed71
Paparazzi is a free software Unmanned Aircraft System.
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nav_survey_polygon module

Survey a polygon with a fixedwing.

From Uni Stuttgart. In the flight plan, the survey blocks call init and run functions:

  1. Initialize the variables needed for the survey to start, with nav_survey_polygon_setup(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude):
    • first_wp the first Waypoint of the polygon (WP_waypoint_name)
    • size the number of points that make up the polygon
    • angle angle in which to do the flyovers
    • sweep_width distance between the sweeps
    • shot_dist distance between the shots
    • min_rad minimal radius when navigating
    • altitude the altitude that must be reached before the flyover starts
  2. Run the survey with nav_survey_polygon_run() for employing the carrot guidance algorithm

Example for airframe file

Add to your firmware section:

1 <module name="nav_survey_polygon"/>

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw nav_survey_polygon.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_survey_polygon" dir="nav">
<doc>
<description>
Survey a polygon with a fixedwing.
From Uni Stuttgart.
In the flight plan, the survey blocks call init and run functions:
1. Initialize the variables needed for the survey to start, with nav_survey_polygon_setup(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude):
- first_wp the first Waypoint of the polygon (WP_waypoint_name)
- size the number of points that make up the polygon
- angle angle in which to do the flyovers
- sweep_width distance between the sweeps
- shot_dist distance between the shots
- min_rad minimal radius when navigating
- altitude the altitude that must be reached before the flyover starts
2. Run the survey with nav_survey_polygon_run() for employing the carrot guidance algorithm
<!--
Block example:
@verbatim
<block name="Poly Survey" strip_button="Poly Survey">
<call_once fun="nav_survey_polygon_setup(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude)"/>
<call fun="nav_survey_polygon_run()"/>
</block>
@endverbatim
-->
</description>
</doc>
<header>
<file name="nav_survey_polygon.h"/>
</header>
<makefile target="ap|sim|nps">
<file name="nav_survey_polygon.c"/>
</makefile>
</module>