nav_survey_polygon_gvf.c File Reference

#include "nav_survey_polygon_gvf.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
#include "modules/guidance/gvf/gvf.h"

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Functions
static void	gvf_nav_points (struct FloatVect2 start, struct FloatVect2 end)
static bool	gvf_intercept_two_lines (struct FloatVect2 *p, struct FloatVect2 x, struct FloatVect2 y, float a1, float a2, float b1, float b2)
	intercept two lines and give back the point of intersection More...
static bool	gvf_get_two_intersects (struct FloatVect2 *x, struct FloatVect2 *y, struct FloatVect2 a, struct FloatVect2 b)
	intersects a line with the polygon and gives back the two intersection points More...
void	gvf_nav_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 More...
void	gvf_nav_direction_circle (float rad)
	main navigation routine. More...
bool	gvf_nav_survey_polygon_run (void)

Variables
struct gvf_SurveyPolyAdv	gvf_survey

Function Documentation

static bool gvf_get_two_intersects ( struct FloatVect2 *  x, struct FloatVect2 *  y, struct FloatVect2  a, struct FloatVect2  b  )

static

intersects a line with the polygon and gives back the two intersection points

Returns

TRUE if two intersection can be found, else FALSE

Parameters

x,y	intersection points
a,b	define the line to intersection

Definition at line 80 of file nav_survey_polygon_gvf.c.

References gvf_SurveyPolyAdv::dir_vec, gvf_intercept_two_lines(), gvf_survey, gvf_SurveyPolyAdv::poly_count, gvf_SurveyPolyAdv::poly_first, waypoints, point::x, FloatVect2::x, point::y, and FloatVect2::y.

Referenced by gvf_nav_survey_polygon_run(), and gvf_nav_survey_polygon_setup().

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static bool gvf_intercept_two_lines ( struct FloatVect2 *  p, struct FloatVect2  x, struct FloatVect2  y, float  a1, float  a2, float  b1, float  b2  )

static

intercept two lines and give back the point of intersection

Returns

FALSE if no intersection can be found or intersection does not lie between points a and b else TRUE

Parameters

p	returns intersection
x,y	first line is defined by point x and y (goes through this points)
a1,a2,b1,b2	second line by coordinates a1/a2, b1/b2

Definition at line 57 of file nav_survey_polygon_gvf.c.

References FloatVect2::x, and FloatVect2::y.

Referenced by gvf_get_two_intersects().

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void gvf_nav_direction_circle

(

float

rad

)

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 238 of file nav_survey_polygon_gvf.c.

References gvf_set_direction().

Referenced by gvf_nav_survey_polygon_run().

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static void gvf_nav_points ( struct FloatVect2  start, struct FloatVect2  end  )

static

Definition at line 44 of file nav_survey_polygon_gvf.c.

References gvf_segment_XY1_XY2(), FloatVect2::x, and FloatVect2::y.

Referenced by gvf_nav_survey_polygon_run().

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bool gvf_nav_survey_polygon_run

(

void

)

Definition at line 247 of file nav_survey_polygon_gvf.c.

References CARROT, dc_stop(), dc_survey(), gvf_SurveyPolyAdv::dir_vec, gvf_SurveyPolyAdv::entry_center, gENTRY, gRET, gSEG, gTURN1, gTURN2, gvf_ellipse_XY(), gvf_get_two_intersects(), gvf_nav_direction_circle(), gvf_nav_points(), gvf_survey, last_x, last_y, nav_approaching_xy(), 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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void gvf_nav_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

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 137 of file nav_survey_polygon_gvf.c.

References altitude, gvf_SurveyPolyAdv::dir_vec, gvf_SurveyPolyAdv::entry_center, FLOAT_VECT2_NORMALIZE, 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, gvf_SurveyPolyAdv::sweep_vec, VECT2_COPY, VECT2_DIFF, VECT2_SMUL, VECT2_SUM, waypoints, point::x, FloatVect2::x, point::y, and FloatVect2::y.

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Variable Documentation

struct gvf_SurveyPolyAdv gvf_survey

Definition at line 42 of file nav_survey_polygon_gvf.c.

Referenced by gvf_get_two_intersects(), gvf_nav_survey_polygon_run(), and gvf_nav_survey_polygon_setup().