#include "modules/nav/nav_survey_poly_rotorcraft.h"
#include "firmwares/rotorcraft/navigation.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"

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Data Structures
struct	Point2D

struct	Line

Macros
#define	POLYSURVEY_DEFAULT_SIZE 10

#define	POLYSURVEY_DEFAULT_DISTANCE 25

#define	POLYSURVEY_ENTRY_DISTANCE 0
	if 0 default to half sweep

#define	POLYSURVEY_MAX_POLYGONSIZE 20
	maximum number of polygon corners

#define	POLY_OSAM_HALF_SWEEP_ENABLED TRUE

#define	MaxPolygonSize POLYSURVEY_MAX_POLYGONSIZE

#define	MaxFloat 1000000000

#define	MinFloat -1000000000

#define	LINE_START_FUNCTION {}

#define	LINE_STOP_FUNCTION {}

Enumerations
enum	SurveyStatus { Init , Entry , Sweep , Turn }
	This routine will cover the enitre area of any Polygon defined in the flightplan which is a convex polygon. More...

Functions
void	nav_survey_poly_setup_towards (uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP)
	Setup "dynamic" polygon survey with sweep orientation towards a waypoint.

static void	TranslateAndRotateFromWorld (struct EnuCoor_f *p, float Zrot, float transX, float transY)

static void	RotateAndTranslateToWorld (struct EnuCoor_f *p, float Zrot, float transX, float transY)
	Rotates point round z by -Zrot then translates so (0,0) becomes (transX,transY)

static void	FindInterceptOfTwoLines (float x, float y, struct Line L1, struct Line L2)

static float	EvaluateLineForX (float y, struct Line L)

void	nav_survey_poly_setup (uint8_t EntryWP, uint8_t Size, float sw, float Orientation)
	Setup polygon survey.

bool	nav_survey_poly_run (void)
	Run polygon survey.

Variables
uint8_t	Poly_Size = POLYSURVEY_DEFAULT_SIZE

float	Poly_Distance = POLYSURVEY_DEFAULT_DISTANCE

static enum SurveyStatus	CSurveyStatus

static struct Point2D	SmallestCorner

static struct Line	Edges [MaxPolygonSize]

static float	EdgeMaxY [MaxPolygonSize]

static float	EdgeMinY [MaxPolygonSize]

static float	SurveyTheta

static float	dSweep

static struct EnuCoor_f	SurveyToWP

static struct EnuCoor_f	SurveyFromWP

static struct EnuCoor_f	SurveyEntry

static struct EnuCoor_f survey_from	survey_to

static uint8_t	SurveyEntryWP

static uint8_t	SurveySize

static float	MaxY

uint16_t	PolySurveySweepNum

uint16_t	PolySurveySweepBackNum

float	EntryRadius

bool	Half_Sweep_Enabled = POLY_OSAM_HALF_SWEEP_ENABLED

Data Structure Documentation

◆ Point2D

struct Point2D

Definition at line 90 of file nav_launcher.c.

Data Fields
float	x
float	y

◆ Line

struct Line

Definition at line 77 of file nav_survey_hybrid.c.

Data Fields
float	b
float	m
float	x

Macro Definition Documentation

◆ LINE_START_FUNCTION

#define LINE_START_FUNCTION {}

Definition at line 90 of file nav_survey_poly_rotorcraft.c.

◆ LINE_STOP_FUNCTION

#define LINE_STOP_FUNCTION {}

Definition at line 93 of file nav_survey_poly_rotorcraft.c.

◆ MaxFloat

#define MaxFloat 1000000000

Definition at line 86 of file nav_survey_poly_rotorcraft.c.

◆ MaxPolygonSize

#define MaxPolygonSize POLYSURVEY_MAX_POLYGONSIZE

Definition at line 85 of file nav_survey_poly_rotorcraft.c.

◆ MinFloat

#define MinFloat -1000000000

Definition at line 87 of file nav_survey_poly_rotorcraft.c.

◆ POLY_OSAM_HALF_SWEEP_ENABLED

#define POLY_OSAM_HALF_SWEEP_ENABLED TRUE

Definition at line 57 of file nav_survey_poly_rotorcraft.c.

◆ POLYSURVEY_DEFAULT_DISTANCE

#define POLYSURVEY_DEFAULT_DISTANCE 25

Definition at line 42 of file nav_survey_poly_rotorcraft.c.

◆ POLYSURVEY_DEFAULT_SIZE

#define POLYSURVEY_DEFAULT_SIZE 10

Definition at line 38 of file nav_survey_poly_rotorcraft.c.

◆ POLYSURVEY_ENTRY_DISTANCE

#define POLYSURVEY_ENTRY_DISTANCE 0

if 0 default to half sweep

Definition at line 47 of file nav_survey_poly_rotorcraft.c.

◆ POLYSURVEY_MAX_POLYGONSIZE

#define POLYSURVEY_MAX_POLYGONSIZE 20

maximum number of polygon corners

Definition at line 52 of file nav_survey_poly_rotorcraft.c.

Enumeration Type Documentation

◆ SurveyStatus

enum SurveyStatus

This routine will cover the enitre area of any Polygon defined in the flightplan which is a convex polygon.

Enumerator
Init
Entry
Sweep
Turn

Definition at line 100 of file nav_survey_poly_rotorcraft.c.

Function Documentation

◆ EvaluateLineForX()

float EvaluateLineForX	(	float	y,
		struct Line	L
	)

static

Definition at line 527 of file nav_survey_poly_rotorcraft.c.

References Line::b, Line::m, and EnuCoor_f::y.

Referenced by nav_survey_poly_run(), and nav_survey_poly_setup().

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◆ FindInterceptOfTwoLines()

void FindInterceptOfTwoLines	(	float *	x,
		float *	y,
		struct Line	L1,
		struct Line	L2
	)

static

Definition at line 520 of file nav_survey_poly_rotorcraft.c.

References foo, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by nav_survey_poly_setup().

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◆ nav_survey_poly_run()

bool nav_survey_poly_run ( void )

Run polygon survey.

Definition at line 307 of file nav_survey_poly_rotorcraft.c.

References CSurveyStatus, dc_distance_interval, dc_send_command(), DC_SHOOT, dSweep, EdgeMaxY, EdgeMinY, Edges, Entry, EvaluateLineForX(), foo, Half_Sweep_Enabled, Init, LINE_START_FUNCTION, LINE_STOP_FUNCTION, MaxY, nav, RotorcraftNavigation::nav_approaching, RotorcraftNavigation::nav_goto, nav_init_stage(), RotorcraftNavigation::nav_route, nav_survey_shift, Poly_Distance, PolySurveySweepBackNum, PolySurveySweepNum, RotateAndTranslateToWorld(), SmallestCorner, stateGetPositionEnu_f(), survey_from, survey_to, SurveyEntry, SurveyEntryWP, SurveyFromWP, SurveySize, SurveyTheta, SurveyToWP, Sweep, Turn, VECT3_COPY, waypoints, EnuCoor_f::x, Point2D::x, EnuCoor_f::y, Point2D::y, and EnuCoor_f::z.

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◆ nav_survey_poly_setup()

void nav_survey_poly_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 123 of file nav_survey_poly_rotorcraft.c.

References Line::b, CSurveyStatus, dSweep, EdgeMaxY, EdgeMinY, Edges, Entry, EvaluateLineForX(), FindInterceptOfTwoLines(), foo, Init, LINE_STOP_FUNCTION, Line::m, MaxFloat, MaxPolygonSize, MaxY, nav_set_heading_deg(), NavVerticalAltitudeMode, Poly_Distance, POLYSURVEY_ENTRY_DISTANCE, PolySurveySweepBackNum, PolySurveySweepNum, SmallestCorner, SurveyEntry, SurveyEntryWP, SurveyFromWP, SurveySize, SurveyTheta, SurveyToWP, TranslateAndRotateFromWorld(), waypoints, EnuCoor_f::x, point::x, Point2D::x, EnuCoor_f::y, point::y, and Point2D::y.

Referenced by nav_survey_poly_setup_towards().

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◆ nav_survey_poly_setup_towards()

void nav_survey_poly_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_Distance 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_Distance
SecondWP	second waypoint towards which the sweep orientation is computed

Definition at line 63 of file nav_survey_poly_rotorcraft.c.

References foo, nav_survey_poly_setup(), Poly_Distance, Poly_Size, Sweep, waypoints, point::x, and point::y.

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