nav_survey_poly_osam.h File Reference

#include "std.h"

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Functions
void	nav_survey_poly_osam_setup (uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation)
	Setup polygon survey. More...
void	nav_survey_poly_osam_setup_towards (uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP)
	Setup "dynamic" polygon survey with sweep orientation towards a waypoint. More...
bool	nav_survey_poly_osam_run (void)
	Run polygon survey. More...
void	nav_survey_poly_osam_ResetSweepNumber (bool rst)
	Reset sweep number. More...

Variables
uint8_t	Poly_Size
float	Poly_Sweep
uint16_t	PolySurveySweepNum
uint16_t	PolySurveySweepBackNum
bool	Half_Sweep_Enabled
bool	Reset_Sweep

Function Documentation

nav_survey_poly_osam_ResetSweepNumber()

void nav_survey_poly_osam_ResetSweepNumber

(

bool

rst

)

Reset sweep number.

Definition at line 101 of file nav_survey_poly_osam.c.

nav_survey_poly_osam_run()

bool nav_survey_poly_osam_run

(

void

)

Run polygon survey.

Definition at line 349 of file nav_survey_poly_osam.c.

References CSurveyStatus, dc_autoshoot, DC_AUTOSHOOT_STOP, dSweep, EdgeMaxY, EdgeMinY, Edges, Entry, EvaluateLineForX(), Half_Sweep_Enabled, Init, LINE_START_FUNCTION, LINE_STOP_FUNCTION, MaxY, nav_approaching_xy(), nav_circle_XY(), nav_init_stage(), nav_route_xy(), nav_survey_shift, NavCircleCount, NavCircleCountNoRewind, NavQdrCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, POLY_OSAM_MIN_RADIUS, Poly_Sweep, PolySurveySweepBackNum, PolySurveySweepNum, RotateAndTranslateToWorld(), SmallestCorner, stateGetPositionEnu_f(), stateGetPositionUtm_f(), SurveyCircle, SurveyCircleQdr, SurveyEntryWP, SurveyFromWP, SurveyRadius, SurveySize, SurveyTheta, SurveyToWP, Sweep, SweepCircle, TranslateAndRotateFromWorld(), use_full_circle, waypoints, EnuCoor_f::x, Point2D::x, EnuCoor_f::y, and Point2D::y.

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nav_survey_poly_osam_setup()

void nav_survey_poly_osam_setup	(	uint8_t	FirstWP,
		uint8_t	Size,
		float	Sweep,
		float	Orientation
	)

Setup polygon survey.

Parameters

FirstWP	first waypoint/corner of the polygon
Size	number of waypoints/corners used to define the polygon
Sweep	distance between scan lines
Orientation	angle of scan lines in degrees (CCW, east)

Definition at line 146 of file nav_survey_poly_osam.c.

References Line::b, CSurveyStatus, dSweep, EdgeMaxY, EdgeMinY, Edges, Entry, EntryRadius, EvaluateLineForX(), FindInterceptOfTwoLines(), Init, LINE_STOP_FUNCTION, Line::m, MaxFloat, MaxY, POLY_OSAM_ENTRY_RADIUS, POLY_OSAM_FIRST_SWEEP_DISTANCE, Poly_Sweep, PolygonSize, PolySurveySweepBackNum, PolySurveySweepNum, SmallestCorner, SurveyCircle, SurveyCircleQdr, SurveyEntryWP, SurveyFromWP, SurveyRadius, SurveySize, SurveyTheta, SurveyToWP, TranslateAndRotateFromWorld(), waypoints, point::x, Point2D::x, point::y, and Point2D::y.

Referenced by nav_survey_poly_osam_setup_towards().

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nav_survey_poly_osam_setup_towards()

void nav_survey_poly_osam_setup_towards	(	uint8_t	FirstWP,
		uint8_t	Size,
		float	Sweep,
		int	SecondWP
	)

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

Computes the sweep orientation angle from the line FirstWP-SecondWP. If you pass zero for Size and/or Sweep it will use the global Poly_Size and Poly_Sweep variables respectively (which can be changed via telemetry/settings).

Parameters

FirstWP	first waypoint/corner of the polygon
Size	number of waypoints/corners used to define the polygon, if zero uses Poly_Size
Sweep	distance between scan lines, if zero uses Poly_Sweep
SecondWP	second waypoint towards which the sweep orientation is computed

Definition at line 81 of file nav_survey_poly_osam.c.

References nav_survey_poly_osam_setup(), Poly_Size, Poly_Sweep, Sweep, waypoints, point::x, and point::y.

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Variable Documentation

Half_Sweep_Enabled

bool Half_Sweep_Enabled

extern

Definition at line 78 of file nav_survey_poly_osam.c.

Poly_Size

uint8_t Poly_Size

extern

Definition at line 75 of file nav_survey_poly_osam.c.

Poly_Sweep

float Poly_Sweep

extern

Definition at line 76 of file nav_survey_poly_osam.c.

Referenced by nav_survey_poly_osam_run(), nav_survey_poly_osam_setup(), and nav_survey_poly_osam_setup_towards().

PolySurveySweepBackNum

uint16_t PolySurveySweepBackNum

extern

Definition at line 142 of file nav_survey_poly_osam.c.

PolySurveySweepNum

uint16_t PolySurveySweepNum

extern

Definition at line 141 of file nav_survey_poly_osam.c.

Reset_Sweep

bool Reset_Sweep

extern

Definition at line 79 of file nav_survey_poly_osam.c.