nav_survey_polygon_gvf.h File Reference

#include "std.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	gvf_SurveyPolyAdv

Enumerations
enum	gvf_SurveyStage {   gERR , gENTRY , gSEG , gTURN1 ,   gRET , gTURN2 }

Functions
void	gvf_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...
void	gvf_nav_direction_circle (float rad)
	main navigation routine. More...
bool	gvf_nav_survey_polygon_run (void)

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Data Structure Documentation

gvf_SurveyPolyAdv

struct gvf_SurveyPolyAdv

Definition at line 48 of file nav_survey_polygon_gvf.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 gvf_SurveyStage	stage
struct FloatVect2	sweep_vec

Enumeration Type Documentation

gvf_SurveyStage

enum gvf_SurveyStage

Enumerator
gERR
gENTRY
gSEG
gTURN1
gRET
gTURN2

Definition at line 46 of file nav_survey_polygon_gvf.h.

Function Documentation

gvf_nav_direction_circle()

void gvf_nav_direction_circle

(

float

rad

)

main navigation routine.

This is called periodically evaluates the current Position and stage and navigates accordingly.

Returns

True until the survey is finished

Definition at line 236 of file nav_survey_polygon_gvf.c.

References gvf_set_direction().

Referenced by gvf_nav_survey_polygon_run().

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gvf_nav_survey_polygon_run()

bool gvf_nav_survey_polygon_run

(

void

)

Definition at line 245 of file nav_survey_polygon_gvf.c.

References CARROT, dc_stop(), dc_survey(), gvf_SurveyPolyAdv::dir_vec, gvf_SurveyPolyAdv::entry_center, gENTRY, gRET, gSEG, gTURN1, gTURN2, gvf_ellipse_XY(), gvf_get_two_intersects(), gvf_nav_direction_circle(), gvf_nav_points(), gvf_survey, last_x, last_y, nav_approaching_xy(), nav_init_stage(), NavCourseCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, gvf_SurveyPolyAdv::psa_altitude, gvf_SurveyPolyAdv::psa_min_rad, gvf_SurveyPolyAdv::psa_shot_dist, gvf_SurveyPolyAdv::psa_sweep_width, gvf_SurveyPolyAdv::rad_vec, gvf_SurveyPolyAdv::ret_end, gvf_SurveyPolyAdv::ret_start, gvf_SurveyPolyAdv::return_angle, gvf_SurveyPolyAdv::seg_center1, gvf_SurveyPolyAdv::seg_center2, gvf_SurveyPolyAdv::seg_end, gvf_SurveyPolyAdv::seg_start, gvf_SurveyPolyAdv::segment_angle, gvf_SurveyPolyAdv::stage, stateGetPositionUtm_f(), gvf_SurveyPolyAdv::sweep_vec, VECT2_DIFF, VECT2_SUM, FloatVect2::x, and FloatVect2::y.

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gvf_nav_survey_polygon_setup()

void gvf_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_wp	the first Waypoint of the polygon
size	the number of points that make up the polygon
angle	angle in which to do the flyovers
sweep_width	distance between the sweeps
shot_dist	distance between the shots
min_rad	minimal radius when navigating
altitude	the altitude that must be reached before the flyover starts

Definition at line 135 of file nav_survey_polygon_gvf.c.

References altitude, gvf_SurveyPolyAdv::dir_vec, gvf_SurveyPolyAdv::entry_center, FLOAT_VECT2_NORMALIZE, gENTRY, gERR, gvf_get_two_intersects(), gvf_survey, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, gvf_SurveyPolyAdv::poly_count, gvf_SurveyPolyAdv::poly_first, gvf_SurveyPolyAdv::psa_altitude, gvf_SurveyPolyAdv::psa_min_rad, gvf_SurveyPolyAdv::psa_shot_dist, gvf_SurveyPolyAdv::psa_sweep_width, gvf_SurveyPolyAdv::rad_vec, gvf_SurveyPolyAdv::return_angle, gvf_SurveyPolyAdv::seg_end, gvf_SurveyPolyAdv::seg_start, gvf_SurveyPolyAdv::segment_angle, gvf_SurveyPolyAdv::stage, sweep, gvf_SurveyPolyAdv::sweep_vec, VECT2_COPY, VECT2_DIFF, VECT2_SMUL, VECT2_SUM, waypoints, FloatVect2::x, point::x, FloatVect2::y, and point::y.

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