Survey a rectangle with a rotorcraft.

From Uni Stuttgart. Adapted to rotorcraft by Eduardo Reginato Lavratti In the flight plan, the survey blocks call init and run functions:

Initialize the variables needed for the survey to start, with nav_survey_polygon_setup(WP1, WP2, sweep_width, orientation)
- WP1 the first corner of the rectangle (WP_waypoint_name)
- WP2 the second corner of the rectangle (WP_waypoint_name)
- sweep_width distance between the sweeps
- angle NS or WE orientation
Run the survey with nav_survey_rectangle_rotorcraft_run(WP1,WP2)

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="nav_survey_rectangle_rotorcraft">
  b'<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="25" />\n    '
  b'<define name="NAV_SURVEY_RECTANGLE_DYNAMIC" value="FALSE|TRUE" />\n  '
</module>

Module configuration options

Define Options

name: RECTANGLE_SURVEY_DEFAULT_SWEEP value: 25
Description: default sweep distance when using dinamic setup
name: NAV_SURVEY_RECTANGLE_DYNAMIC value: FALSE|TRUE
Description: Set to true to allow changing sweep distance mid survey

Module functions

Init Functions

These initialization functions are called once on startup.

nav_survey_rectangle_rotorcraft_init()

Files

Header Files

The following headers are automatically included in modules.h

nav_survey_rectangle_rotorcraft.h

Source Files

modules/nav/nav_survey_rectangle_rotorcraft.c

Raw nav_survey_rectangle_rotorcraft.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_survey_rectangle_rotorcraft" dir="nav" task="control">
  <doc>
    <description>
Survey a rectangle with a rotorcraft.
From Uni Stuttgart.
Adapted to rotorcraft by Eduardo Reginato Lavratti
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(WP1, WP2, sweep_width, orientation)
  - WP1           the first corner of the rectangle (WP_waypoint_name)
  - WP2           the second corner of the rectangle (WP_waypoint_name)
  - sweep_width   distance between the sweeps
  - angle         NS or WE orientation
2. Run the survey with nav_survey_rectangle_rotorcraft_run(WP1,WP2)
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    </description>
    <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="25" description="default sweep distance when using dinamic setup"/>
    <define name="NAV_SURVEY_RECTANGLE_DYNAMIC" value="FALSE|TRUE" description="Set to true to allow changing sweep distance mid survey"/>
  </doc>
 
    <settings>
    <dl_settings>
      <dl_settings NAME="Ret_Survey">
        <dl_setting min="10" max="500" step="1" var="sweep" type="float" shortname="Distance" module="modules/nav/nav_survey_rectangle_rotorcraft"/>
        <dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="interleave" type="bool" shortname="use_interleave" module="modules/nav/nav_survey_rectangle_rotorcraft"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <dep>
    <depends>@navigation</depends>
  </dep>
  <header>
    <file name="nav_survey_rectangle_rotorcraft.h"/>
  </header>
  <init fun="nav_survey_rectangle_rotorcraft_init()"/>
  <makefile target="ap|sim|nps">
    <file name="nav_survey_rectangle_rotorcraft.c"/>
    <test firmware="rotorcraft"/>
  </makefile>
</module>