Paparazzi UAS  v5.15_devel-81-gd13dafb
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nav_survey_polygon.c
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1 /*
2  * Copyright (C) 2011-2013 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
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10  *
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12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
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20  */
21 
29 #include "nav_survey_polygon.h"
30 
32 #include "state.h"
33 #include "autopilot.h"
34 #include "generated/flight_plan.h"
35 
36 #ifdef DIGITAL_CAM
37 #include "modules/digital_cam/dc.h"
38 #endif
39 
41 
42 static void nav_points(struct FloatVect2 start, struct FloatVect2 end)
43 {
44  nav_route_xy(start.x, start.y, end.x, end.y);
45 }
46 
55 static bool intercept_two_lines(struct FloatVect2 *p, struct FloatVect2 x, struct FloatVect2 y, float a1, float a2,
56  float b1, float b2)
57 {
58  float divider, fac;
59 
60  divider = (((b2 - a2) * (y.x - x.x)) + ((x.y - y.y) * (b1 - a1)));
61  if (divider == 0) { return false; }
62  fac = ((y.x * (x.y - a2)) + (x.x * (a2 - y.y)) + (a1 * (y.y - x.y))) / divider;
63  if (fac > 1.0) { return false; }
64  if (fac < 0.0) { return false; }
65 
66  p->x = a1 + fac * (b1 - a1);
67  p->y = a2 + fac * (b2 - a2);
68 
69  return true;
70 }
71 
78 static bool get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, struct FloatVect2 a, struct FloatVect2 b)
79 {
80  int i, count = 0;
81  struct FloatVect2 tmp;
82 
83  for (i = 0; i < survey.poly_count - 1; i++)
85  waypoints[survey.poly_first + i + 1].x, waypoints[survey.poly_first + i + 1].y)) {
86  if (count == 0) {
87  *x = tmp;
88  count++;
89  } else {
90  *y = tmp;
91  count++;
92  break;
93  }
94  }
95 
96  //wrapover first,last polygon waypoint
97  if (count == 1
101  *y = tmp;
102  count++;
103  }
104 
105  if (count != 2) {
106  return false;
107  }
108 
109  //change points
110  if (fabs(survey.dir_vec.x) > fabs(survey.dir_vec.y)) {
111  if ((y->x - x->x) / survey.dir_vec.x < 0.0) {
112  tmp = *x;
113  *x = *y;
114  *y = tmp;
115  }
116  } else if ((y->y - x->y) / survey.dir_vec.y < 0.0) {
117  tmp = *x;
118  *x = *y;
119  *y = tmp;
120  }
121 
122  return true;
123 }
124 
135 void nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude)
136 {
137  int i;
138  struct FloatVect2 small, sweep;
139  float divider, angle_rad = angle / 180.0 * M_PI;
140 
141  if (angle < 0.0) { angle += 360.0; }
142  if (angle >= 360.0) { angle -= 360.0; }
143 
144  survey.poly_first = first_wp;
145  survey.poly_count = size;
146 
147  survey.psa_sweep_width = sweep_width;
148  survey.psa_min_rad = min_rad;
149  survey.psa_shot_dist = shot_dist;
151 
152  survey.segment_angle = angle;
153  survey.return_angle = angle + 180;
154  if (survey.return_angle > 359) { survey.return_angle -= 360; }
155 
156  if (angle <= 45.0 || angle >= 315.0) {
157  //north
158  survey.dir_vec.y = 1.0;
159  survey.dir_vec.x = 1.0 * tanf(angle_rad);
160  sweep.x = 1.0;
161  sweep.y = - survey.dir_vec.x / survey.dir_vec.y;
162  } else if (angle <= 135.0) {
163  //east
164  survey.dir_vec.x = 1.0;
165  survey.dir_vec.y = 1.0 / tanf(angle_rad);
166  sweep.y = - 1.0;
167  sweep.x = survey.dir_vec.y / survey.dir_vec.x;
168  } else if (angle <= 225.0) {
169  //south
170  survey.dir_vec.y = -1.0;
171  survey.dir_vec.x = -1.0 * tanf(angle_rad);
172  sweep.x = -1.0;
173  sweep.y = survey.dir_vec.x / survey.dir_vec.y;
174  } else {
175  //west
176  survey.dir_vec.x = -1.0;
177  survey.dir_vec.y = -1.0 / tanf(angle_rad);
178  sweep.y = 1.0;
179  sweep.x = - survey.dir_vec.y / survey.dir_vec.x;
180  }
181 
182  //normalize
183  FLOAT_VECT2_NORMALIZE(sweep);
184 
187 
188  //begin at leftmost position (relative to survey.dir_vec)
190 
192 
193  //calculate the leftmost point if one sees the dir vec as going "up" and the sweep vec as going right
194  if (divider < 0.0) {
195  for (i = 1; i < survey.poly_count; i++)
196  if ((survey.dir_vec.x * (waypoints[survey.poly_first + i].y - small.y)) + (survey.dir_vec.y *
197  (small.x - waypoints[survey.poly_first + i].x)) > 0.0) {
198  VECT2_COPY(small, waypoints[survey.poly_first + i]);
199  }
200  } else
201  for (i = 1; i < survey.poly_count; i++)
202  if ((survey.dir_vec.x * (waypoints[survey.poly_first + i].y - small.y)) + (survey.dir_vec.y *
203  (small.x - waypoints[survey.poly_first + i].x)) > 0.0) {
204  VECT2_COPY(small, waypoints[survey.poly_first + i]);
205  }
206 
207  //calculate the line the defines the first flyover
208  survey.seg_start.x = small.x + 0.5 * survey.sweep_vec.x;
209  survey.seg_start.y = small.y + 0.5 * survey.sweep_vec.y;
211 
213  survey.stage = ERR;
214  return;
215  }
216 
217  //center of the entry circle
219 
220  //fast climbing to desired altitude
223 
224  survey.stage = ENTRY;
225 }
226 
233 {
236 
237  //entry circle around entry-center until the desired altitude is reached
238  if (survey.stage == ENTRY) {
242  && fabs(stateGetPositionUtm_f()->alt - survey.psa_altitude) <= 20) {
243  survey.stage = SEG;
244  nav_init_stage();
245 #ifdef DIGITAL_CAM
248 #endif
249  }
250  }
251  //fly the segment until seg_end is reached
252  if (survey.stage == SEG) {
254  //calculate all needed points for the next flyover
256 #ifdef DIGITAL_CAM
257  dc_stop();
258 #endif
262 
263  //if we get no intersection the survey is finished
264  static struct FloatVect2 sum_start_sweep;
265  static struct FloatVect2 sum_end_sweep;
266  VECT2_SUM(sum_start_sweep, survey.seg_start, survey.sweep_vec);
267  VECT2_SUM(sum_end_sweep, survey.seg_end, survey.sweep_vec);
268  if (!get_two_intersects(&survey.seg_start, &survey.seg_end, sum_start_sweep, sum_end_sweep)) {
269  return false;
270  }
271 
274 
277 
278  survey.stage = TURN1;
279  nav_init_stage();
280  }
281  }
282  //turn from stage to return
283  else if (survey.stage == TURN1) {
286  survey.stage = RET;
287  nav_init_stage();
288  }
289  //return
290  } else if (survey.stage == RET) {
293  survey.stage = TURN2;
294  nav_init_stage();
295  }
296  //turn from return to stage
297  } else if (survey.stage == TURN2) {
300  survey.stage = SEG;
301  nav_init_stage();
302 #ifdef DIGITAL_CAM
305 #endif
306  }
307  }
308 
309  return true;
310 }
float x
Definition: common_nav.h:40
#define VECT2_SUM(_c, _a, _b)
Definition: pprz_algebra.h:86
#define FLOAT_VECT2_NORMALIZE(_v)
#define VECT2_COPY(_a, _b)
Definition: pprz_algebra.h:68
#define VECT2_DIFF(_c, _a, _b)
Definition: pprz_algebra.h:92
static int32_t altitude
Definition: airspeed_uADC.c:58
uint8_t dc_survey(float interval, float x, float y)
Sets the dc control in distance mode.
Definition: dc.c:234
float y
Definition: common_nav.h:41
Standard Digital Camera Control Interface.
#define VECT2_SMUL(_vo, _vi, _s)
Definition: pprz_algebra.h:98
Core autopilot interface common to all firmwares.
static struct UtmCoor_f * stateGetPositionUtm_f(void)
Get position in UTM coordinates (float).
Definition: state.h:692
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
uint8_t dc_stop(void)
Stop dc control.
Definition: dc.c:256
struct point waypoints[NB_WAYPOINT]
size == nb_waypoint, waypoint 0 is a dummy waypoint
Definition: common_nav.c:38
static float p[2][2]
#define CARROT
default approaching_time for a wp
Definition: navigation.h:40