nav_survey_hybrid.h File Reference

#include "std.h"

Include dependency graph for nav_survey_hybrid.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	SurveyHybrid

Functions
void	nav_survey_hybrid_init (void)
	Init function. More...
void	nav_survey_hybrid_setup_orientation (uint8_t start_wp, float orientation, uint8_t size, float sweep, float radius, float height)
	Setup polygon survey. More...
void	nav_survey_hybrid_setup_towards (uint8_t start_wp, uint8_t second_wp, uint8_t size, float sweep, float radius, float height)
	Setup "dynamic" polygon survey with sweep orientation towards a waypoint. More...
bool	nav_survey_hybrid_run (void)
	Run polygon hybrid survey. More...

Variables
struct SurveyHybrid	survey_hybrid

---

Data Structure Documentation

SurveyHybrid

struct SurveyHybrid

Definition at line 32 of file nav_survey_hybrid.h.

Data Fields
bool	half_sweep_enabled
uint16_t	sweep_back_nb
uint16_t	sweep_back_nb_max
uint16_t	sweep_nb
uint16_t	sweep_nb_max

Function Documentation

nav_survey_hybrid_init()

void nav_survey_hybrid_init

(

void

)

Init function.

Definition at line 179 of file nav_survey_hybrid.c.

References SurveyHybrid::half_sweep_enabled, mission_register(), survey_hybrid, SURVEY_HYBRID_HALF_SWEEP_ENABLED, SURVEY_HYBRID_MAX_SWEEP, SURVEY_HYBRID_MAX_SWEEP_BACK, survey_private, SurveyHybrid::sweep_back_nb, SurveyHybrid::sweep_back_nb_max, SurveyHybrid::sweep_nb, and SurveyHybrid::sweep_nb_max.

Here is the call graph for this function:

nav_survey_hybrid_run()

bool nav_survey_hybrid_run

(

void

)

Run polygon hybrid survey.

Definition at line 394 of file nav_survey_hybrid.c.

References SurveyHybridPrivate::circle, SurveyHybridPrivate::circle_turns, CloseRadAngles, CrossProductZ(), dc_distance_interval, dc_send_command(), DC_SHOOT, dir, SurveyHybridPrivate::edge_max_y, SurveyHybridPrivate::edge_min_y, SurveyHybridPrivate::edges, Entry, SurveyHybridPrivate::entry, EvaluateLineForX(), SurveyHybridPrivate::from_wp, SurveyHybrid::half_sweep_enabled, Init, LINE_START_FUNCTION, LINE_STOP_FUNCTION, SurveyHybridPrivate::max_y, nav, RotorcraftNavigation::nav_approaching, RotorcraftNavigation::nav_circle, RotorcraftNavigation::nav_goto, nav_init_stage(), RotorcraftNavigation::nav_route, NavCircleCount, SurveyHybridPrivate::orientation, SurveyHybridPrivate::radius, RotateAndTranslateToWorld(), SurveyHybridPrivate::segment_from, SurveyHybridPrivate::segment_to, SurveyHybridPrivate::size, SurveyHybridPrivate::smallest_corner, stateGetPositionEnu_f(), SurveyHybridPrivate::status, survey_hybrid, SURVEY_HYBRID_APPROACHING_TIME, survey_private, Sweep, SurveyHybridPrivate::sweep, SurveyHybrid::sweep_back_nb, SurveyHybrid::sweep_back_nb_max, SurveyHybrid::sweep_nb, SurveyHybrid::sweep_nb_max, SurveyHybridPrivate::to_wp, Turn, SurveyHybridPrivate::valid, VECT3_COPY, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Here is the call graph for this function:

nav_survey_hybrid_setup_orientation()

void nav_survey_hybrid_setup_orientation	(	uint8_t	start_wp,
		float	orientation,
		uint8_t	size,
		float	sweep,
		float	radius,
		float	height
	)

Setup polygon survey.

Parameters

start_wp	first waypoint/corner of the polygon
orientation	angle of scan lines in degrees (CCW, east)
size	number of waypoints/corners used to define the polygon
sweep	distance between scan lines
radius	turn radius (<0: automatic, radius = sweep/2; 0: no turns, use straight lines only; >0: fixed radius)
height	starting height in meters

Definition at line 360 of file nav_survey_hybrid.c.

References SurveyHybridPrivate::corners, nav_survey_hybrid_setup(), SurveyHybridPrivate::size, SURVEY_HYBRID_MAX_POLYGON_SIZE, survey_private, sweep, SurveyHybridPrivate::valid, and waypoint_get_enu_f().

Referenced by nav_survey_hybrid_setup_towards().

Here is the call graph for this function:

Here is the caller graph for this function:

nav_survey_hybrid_setup_towards()

void nav_survey_hybrid_setup_towards	(	uint8_t	start_wp,
		uint8_t	second_wp,
		uint8_t	size,
		float	sweep,
		float	radius,
		float	height
	)

Setup "dynamic" polygon survey with sweep orientation towards a waypoint.

Computes the sweep orientation angle from the line first-second WP.

Parameters

start_wp	first waypoint/corner of the polygon
second_wp	second waypoint towards which the sweep orientation is computed
size	number of waypoints/corners used to define the polygon
sweep	distance between scan lines, if zero uses Poly_Distance
radius	turn radius (<0: automatic, radius = sweep/2; 0: no turns, use straight lines only; >0: fixed radius)
height	starting height in meters

Definition at line 378 of file nav_survey_hybrid.c.

References nav_survey_hybrid_setup_orientation(), survey_private, sweep, SurveyHybridPrivate::valid, waypoint_get_enu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Here is the call graph for this function:

Variable Documentation

survey_hybrid

struct SurveyHybrid survey_hybrid

extern

Definition at line 1 of file nav_survey_hybrid.c.

Referenced by nav_survey_hybrid_init(), nav_survey_hybrid_run(), and nav_survey_hybrid_setup().