Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
nav_survey_rectangle.c File Reference

Automatic survey of a rectangle for fixedwings. More...

#include "modules/nav/nav_survey_rectangle.h"
#include "state.h"
#include "generated/flight_plan.h"
+ Include dependency graph for nav_survey_rectangle.c:

Go to the source code of this file.

Macros

#define SurveyGoingNorth()   ((survey_orientation == NS) && (survey_to.y > survey_from.y))
 
#define SurveyGoingSouth()   ((survey_orientation == NS) && (survey_to.y < survey_from.y))
 
#define SurveyGoingEast()   ((survey_orientation == WE) && (survey_to.x > survey_from.x))
 
#define SurveyGoingWest()   ((survey_orientation == WE) && (survey_to.x < survey_from.x))
 
#define LINE_START_FUNCTION   {}
 
#define LINE_STOP_FUNCTION   {}
 

Functions

void nav_survey_rectangle_init (uint8_t wp1, uint8_t wp2, float grid, survey_orientation_t so)
 
void nav_survey_rectangle (uint8_t wp1, uint8_t wp2)
 

Variables

float nav_survey_sweep
 
static struct point survey_from
 
static struct point survey_to
 
static bool survey_uturn = false
 
static survey_orientation_t survey_orientation = NS
 

Detailed Description

Automatic survey of a rectangle for fixedwings.

Rectangle is defined by two points, sweep can be south-north or west-east.

Definition in file nav_survey_rectangle.c.

Macro Definition Documentation

◆ LINE_START_FUNCTION

#define LINE_START_FUNCTION   {}

Definition at line 48 of file nav_survey_rectangle.c.

◆ LINE_STOP_FUNCTION

#define LINE_STOP_FUNCTION   {}

Definition at line 51 of file nav_survey_rectangle.c.

◆ SurveyGoingEast

#define SurveyGoingEast ( )    ((survey_orientation == WE) && (survey_to.x > survey_from.x))

Definition at line 42 of file nav_survey_rectangle.c.

◆ SurveyGoingNorth

#define SurveyGoingNorth ( )    ((survey_orientation == NS) && (survey_to.y > survey_from.y))

Definition at line 40 of file nav_survey_rectangle.c.

◆ SurveyGoingSouth

#define SurveyGoingSouth ( )    ((survey_orientation == NS) && (survey_to.y < survey_from.y))

Definition at line 41 of file nav_survey_rectangle.c.

◆ SurveyGoingWest

#define SurveyGoingWest ( )    ((survey_orientation == WE) && (survey_to.x < survey_from.x))

Definition at line 43 of file nav_survey_rectangle.c.

Function Documentation

◆ nav_survey_rectangle()

◆ nav_survey_rectangle_init()

Variable Documentation

◆ nav_survey_sweep

float nav_survey_sweep

Definition at line 33 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().

◆ survey_from

◆ survey_orientation

survey_orientation_t survey_orientation = NS
static

Definition at line 38 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().

◆ survey_to

struct point survey_to
static

Definition at line 33 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().

◆ survey_uturn

bool survey_uturn = false
static

Definition at line 37 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().