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	nav_gvf_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.
bool	nav_gvf_survey_polygon_run (void)
	Main navigation routine.

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Data Structure Documentation

gvf_SurveyPolyAdv

struct gvf_SurveyPolyAdv

Definition at line 48 of file nav_survey_polygon_gvf.h.

Collaboration diagram for gvf_SurveyPolyAdv:

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

nav_gvf_survey_polygon_run()

bool nav_gvf_survey_polygon_run ( void  )

extern

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 246 of file nav_survey_polygon_gvf.c.

References CARROT, dc_stop(), dc_survey(), gvf_SurveyPolyAdv::dir_vec, gvf_SurveyPolyAdv::entry_center, foo, gENTRY, gRET, gSEG, gTURN1, gTURN2, gvf_circle_direction(), gvf_get_two_intersects(), gvf_survey, last_x, last_y, nav_approaching_xy(), nav_gvf_ellipse_XY(), nav_gvf_segment_points(), 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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nav_gvf_survey_polygon_setup()

void nav_gvf_survey_polygon_setup ( uint8_t  first_wp, uint8_t  size, float  angle, float  sweep_width, float  shot_dist, float  min_rad, float  altitude  )

extern

Initializes the variables needed for the survey to start.

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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 145 of file nav_survey_polygon_gvf.c.

References altitude, gvf_SurveyPolyAdv::dir_vec, gvf_SurveyPolyAdv::entry_center, FLOAT_VECT2_NORMALIZE, foo, 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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