Paparazzi UAS  v5.15_devel-164-g81d4ceb
Paparazzi is a free software Unmanned Aircraft System.
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nav_survey_polygon_gvf.h
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1 /*
2  * Copyright (C) 2017 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)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
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.
15  *
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17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
30 #ifndef NAV_SURVEY_POLYGON_GVF_H
31 #define NAV_SURVEY_POLYGON_GVF_H
32 
33 #include "std.h"
35 
36 /*
37  SurveyStage starts at ENTRY and than circles trought the other
38  states until to polygon is completely covered
39  ENTRY : getting in the right position and height for the first flyover
40  SEG : fly from seg_start to seg_end and take pictures,
41  then calculate navigation points of next flyover
42  TURN1 : do a 180° turn around seg_center1
43  RET : fly from ret_start to ret_end
44  TURN2 : do a 180° turn around seg_center2
45 */
47 
49  /*
50  The following variables are set by nav_survey_polygon_start and not changed later on
51  */
52 
53  // precomputed vectors to ease calculations
57 
58  //the polygon from the flightplan
61 
62  //desired properties of the flyover
63  float psa_min_rad;
66  float psa_altitude;
67 
68  //direction for the flyover (0° == N)
71 
72  /*
73  The Following variables are dynamic, changed while navigating.
74  */
76  // points for navigation
84 };
85 
86 extern void gvf_nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist,
87  float min_rad, float altitude);
88 
89 void gvf_nav_direction_circle(float rad);
90 extern bool gvf_nav_survey_polygon_run(void);
91 
92 #endif
static int32_t altitude
Definition: airspeed_uADC.c:58
Paparazzi floating point algebra.
unsigned char uint8_t
Definition: types.h:14