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:

<module name="nav_survey_polygon"/>

Files

Header Files

The following headers are automatically included in modules.h

• nav_survey_polygon.h

Source Files

• modules/nav/nav_survey_polygon.c

Raw nav_survey_polygon.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_survey_polygon" dir="nav" task="control">
  <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
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    </description>
  </doc>
  <dep>
    <depends>@navigation</depends>
  </dep>
  <header>
    <file name="nav_survey_polygon.h"/>
  </header>
  <makefile target="ap|sim|nps">
    <file name="nav_survey_polygon.c"/>
    <test firmware="fixedwing">
      <define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
    </test>
  </makefile>
</module>