nav_survey_zamboni.c File Reference

Zamboni pattern survey for fixedwings. More...

#include "modules/nav/nav_survey_zamboni.h"
#include "firmwares/fixedwing/nav.h"
#include "autopilot.h"
#include "generated/flight_plan.h"

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Macros
#define	LINE_START_FUNCTION   {}
#define	LINE_STOP_FUNCTION   {}

Functions
void	nav_survey_zamboni_setup (uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude)
	initializes the variables needed for the survey to start. More...
bool	nav_survey_zamboni_run (void)
	main navigation routine. More...

Variables
struct ZamboniSurvey	zs

Detailed Description

Zamboni pattern survey for fixedwings.

Definition in file nav_survey_zamboni.c.

Macro Definition Documentation

LINE_START_FUNCTION

#define LINE_START_FUNCTION   {}

Definition at line 39 of file nav_survey_zamboni.c.

LINE_STOP_FUNCTION

#define LINE_STOP_FUNCTION   {}

Definition at line 42 of file nav_survey_zamboni.c.

Function Documentation

nav_survey_zamboni_run()

bool nav_survey_zamboni_run

(

void

)

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 129 of file nav_survey_zamboni.c.

References ZamboniSurvey::altitude, CARROT, ZamboniSurvey::current_laps, ZamboniSurvey::flight_angle, LINE_START_FUNCTION, LINE_STOP_FUNCTION, nav_approaching_xy(), nav_circle_XY(), nav_init_stage(), nav_route_xy(), NavCourseCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, ZamboniSurvey::pre_leave_angle, ZamboniSurvey::ret_end, ZamboniSurvey::ret_start, ZamboniSurvey::return_angle, ZamboniSurvey::seg_end, ZamboniSurvey::seg_start, ZamboniSurvey::stage, ZamboniSurvey::sweep_width, ZamboniSurvey::total_laps, ZamboniSurvey::turn_center1, ZamboniSurvey::turn_center2, ZamboniSurvey::turnradius1, ZamboniSurvey::turnradius2, VECT2_ADD, ZamboniSurvey::wp_center, FloatVect2::x, FloatVect2::y, Z_ENTRY, Z_RET, Z_SEG, Z_TURN1, Z_TURN2, and zs.

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nav_survey_zamboni_setup()

void nav_survey_zamboni_setup	(	uint8_t	center_wp,
		uint8_t	dir_wp,
		float	sweep_length,
		float	sweep_spacing,
		int	sweep_lines,
		float	altitude
	)

initializes the variables needed for the survey to start.

Parameters

center_wp	the waypoint defining the center of the survey-rectangle
dir_wp	the waypoint defining the orientation of the survey-rectangle
sweep_length	the length of the survey-rectangle
sweep_spacing	distance between the sweeps
sweep_lines	number of sweep_lines to fly
altitude	the altitude that must be reached before the flyover starts

Definition at line 57 of file nav_survey_zamboni.c.

References ZamboniSurvey::altitude, altitude, ZamboniSurvey::current_laps, ZamboniSurvey::flight_angle, FLOAT_VECT2_NORMALIZE, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, ZamboniSurvey::pre_leave_angle, ZamboniSurvey::ret_end, ZamboniSurvey::ret_start, ZamboniSurvey::return_angle, ZamboniSurvey::seg_end, ZamboniSurvey::seg_start, ZamboniSurvey::stage, ZamboniSurvey::sweep_width, ZamboniSurvey::total_laps, ZamboniSurvey::turn_center1, ZamboniSurvey::turn_center2, ZamboniSurvey::turnradius1, ZamboniSurvey::turnradius2, VECT2_COPY, VECT2_DIFF, VECT2_SMUL, VECT2_SUM, waypoints, ZamboniSurvey::wp_center, ZamboniSurvey::wp_dir, FloatVect2::x, FloatVect2::y, Z_ENTRY, and zs.

Variable Documentation

zs

struct ZamboniSurvey zs

Definition at line 1 of file nav_survey_zamboni.c.

Referenced by nav_survey_zamboni_run(), and nav_survey_zamboni_setup().