Paparazzi UAS  v5.15_devel-113-g1b57ff1
Paparazzi is a free software Unmanned Aircraft System.
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nav_survey_poly_rotorcraft.h File Reference
#include "std.h"
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Functions

void nav_survey_poly_setup (uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation)
 Setup polygon survey. More...
 
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. More...
 
bool nav_survey_poly_run (void)
 Run polygon survey. More...
 

Variables

uint8_t Poly_Size
 
float Poly_Distance
 
uint16_t PolySurveySweepNum
 
uint16_t PolySurveySweepBackNum
 
bool Half_Sweep_Enabled
 

Function Documentation

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

Setup polygon survey.

Parameters
FirstWPfirst waypoint/corner of the polygon
Sizenumber of waypoints/corners used to define the polygon
Sweepdistance between scan lines
Orientationangle of scan lines in degrees (CCW, east)

Definition at line 124 of file nav_survey_poly_rotorcraft.c.

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

Referenced by nav_survey_poly_setup_towards().

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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_Sweep variables respectively (which can be changed via telemetry/settings).

Parameters
FirstWPfirst waypoint/corner of the polygon
Sizenumber of waypoints/corners used to define the polygon, if zero uses Poly_Size
Sweepdistance between scan lines, if zero uses Poly_Distance
SecondWPsecond waypoint towards which the sweep orientation is computed

Definition at line 64 of file nav_survey_poly_rotorcraft.c.

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

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Variable Documentation

bool Half_Sweep_Enabled

Definition at line 78 of file nav_survey_poly_osam.c.

Referenced by nav_survey_poly_osam_run(), and nav_survey_poly_run().

float Poly_Distance

Definition at line 61 of file nav_survey_poly_rotorcraft.c.

Referenced by nav_survey_poly_setup_towards().