nav_survey_hybrid.h

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/*
 * Copyright (C) 2023 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 * Based on OSAM poly survey
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef NAV_SURVEY_HYBRID_H
#define NAV_SURVEY_HYBRID_H
 
#include "std.h"
 
struct SurveyHybrid {
  uint16_t sweep_nb_max;
  uint16_t sweep_back_nb_max;
  uint16_t sweep_nb;
  uint16_t sweep_back_nb;
  bool half_sweep_enabled;
};
 
extern struct SurveyHybrid survey_hybrid;
 
extern void nav_survey_hybrid_init(void);
 
extern void nav_survey_hybrid_setup_orientation(uint8_t start_wp, float orientation, uint8_t size, float sweep, float radius, float height);
 
extern void nav_survey_hybrid_setup_towards(uint8_t start_wp, uint8_t second_wp, uint8_t size, float sweep, float radius, float height);
 
extern bool nav_survey_hybrid_run(void);
 
#endif