Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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poly_survey_adv.h File Reference

Advanced polygon survey for fixedwings from Uni Stuttgart. More...

#include "std.h"
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Go to the source code of this file.

Data Structures

struct  point2d
 

Enumerations

enum  survey_stage {
  ERR, ENTRY, SEG, TURN1,
  RET, TURN2
}
 

Functions

bool_t init_poly_survey_adv (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...
 
bool_t poly_survey_adv (void)
 main navigation routine. More...
 

Detailed Description

Advanced polygon survey for fixedwings from Uni Stuttgart.

Definition in file poly_survey_adv.h.

Enumeration Type Documentation

Enumerator
ERR 
ENTRY 
SEG 
TURN1 
RET 
TURN2 

Definition at line 36 of file poly_survey_adv.h.

Function Documentation

bool_t init_poly_survey_adv ( 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_wpthe first Waypoint of the polygon
sizethe number of points that make up the polygon
angleangle in which to do the flyovers
sweep_widthdistance between the sweeps
shot_distdistance between the shots
min_radminimal radius when navigating
altitudethe altitude that must be reached before the flyover starts

Definition at line 191 of file poly_survey_adv.c.

References ENTRY, ERR, FALSE, get_two_intersects(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, poly_count, poly_first, psa_altitude, psa_min_rad, psa_shot_dist, psa_stage, psa_sweep_width, return_angle, segment_angle, VEC_CALC, waypoints, point2d::x, EnuCoor_i::x, point2d::y, and EnuCoor_i::y.

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bool_t poly_survey_adv ( 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 300 of file poly_survey_adv.c.

References dc_stop(), dc_survey(), ENTRY, FALSE, get_two_intersects(), last_x, last_y, nav_approaching_xy(), nav_circle_XY(), nav_init_stage(), nav_points(), NavCourseCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, psa_altitude, psa_min_rad, psa_shot_dist, psa_stage, psa_sweep_width, RET, return_angle, SEG, segment_angle, stateGetPositionUtm_f(), TRUE, TURN1, TURN2, vec_add(), VEC_CALC, point2d::x, and point2d::y.

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