Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
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nav_survey_polygon.h File Reference

Advanced polygon survey for fixedwings from Uni Stuttgart. More...

#include "std.h"
#include "math/pprz_algebra_float.h"
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Go to the source code of this file.

Data Structures

struct  SurveyPolyAdv
 

Enumerations

enum  SurveyStage {
  ERR, ENTRY, SEG, TURN1,
  RET, TURN2
}
 

Functions

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)
 initializes the variables needed for the survey to start More...
 
bool nav_survey_polygon_run (void)
 main navigation routine. More...
 

Detailed Description

Advanced polygon survey for fixedwings from Uni Stuttgart.

Definition in file nav_survey_polygon.h.


Data Structure Documentation

struct SurveyPolyAdv

Definition at line 47 of file nav_survey_polygon.h.

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Data Fields
struct FloatVect2 dir_vec
struct FloatVect2 entry_center
uint8_t poly_count
uint8_t poly_first
float psa_altitude
float psa_min_rad
float psa_shot_dist
float psa_sweep_width
struct FloatVect2 rad_vec
struct FloatVect2 ret_end
struct FloatVect2 ret_start
int return_angle
struct FloatVect2 seg_center1
struct FloatVect2 seg_center2
struct FloatVect2 seg_end
struct FloatVect2 seg_start
int segment_angle
enum SurveyStage stage
struct FloatVect2 sweep_vec

Enumeration Type Documentation

Enumerator
ERR 
ENTRY 
SEG 
TURN1 
RET 
TURN2 

Definition at line 45 of file nav_survey_polygon.h.

Function Documentation

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 
)

initializes the variables needed for the survey to start

Parameters
first_wpthe first Waypoint of the polygon
sizethe number of points that make up the polygon
angleangle in which to do the flyovers
sweep_widthdistance between the sweeps
shot_distdistance between the shots
min_radminimal radius when navigating
altitudethe altitude that must be reached before the flyover starts

Definition at line 135 of file nav_survey_polygon.c.

References altitude, SurveyPolyAdv::dir_vec, ENTRY, SurveyPolyAdv::entry_center, ERR, FLOAT_VECT2_NORMALIZE, get_two_intersects(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, SurveyPolyAdv::poly_count, SurveyPolyAdv::poly_first, SurveyPolyAdv::psa_altitude, SurveyPolyAdv::psa_min_rad, SurveyPolyAdv::psa_shot_dist, SurveyPolyAdv::psa_sweep_width, SurveyPolyAdv::rad_vec, SurveyPolyAdv::return_angle, SurveyPolyAdv::seg_end, SurveyPolyAdv::seg_start, SurveyPolyAdv::segment_angle, SurveyPolyAdv::stage, survey, SurveyPolyAdv::sweep_vec, VECT2_COPY, VECT2_DIFF, VECT2_SMUL, VECT2_SUM, waypoints, point::x, FloatVect2::x, point::y, and FloatVect2::y.

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