nav_survey_rectangle.c File Reference

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

#include "subsystems/navigation/nav_survey_rectangle.h"
#include "state.h"
#include "generated/flight_plan.h"

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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
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

#define LINE_START_FUNCTION   {}

Definition at line 46 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().

#define LINE_STOP_FUNCTION   {}

Definition at line 49 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle().

#define SurveyGoingEast

(

)

((survey_orientation == WE) && (survey_to.x > survey_from.x))

Definition at line 40 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle().

#define SurveyGoingNorth

(

)

((survey_orientation == NS) && (survey_to.y > survey_from.y))

Definition at line 38 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle().

#define SurveyGoingSouth

(

)

((survey_orientation == NS) && (survey_to.y < survey_from.y))

Definition at line 39 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle().

#define SurveyGoingWest

(

)

((survey_orientation == WE) && (survey_to.x < survey_from.x))

Definition at line 41 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle().

Function Documentation

void nav_survey_rectangle	(	uint8_t	wp1,
		uint8_t	wp2
	)

Do half a circle around WP 0

Do half a circle around WP 0

Definition at line 90 of file nav_survey_rectangle.c.

References LINE_START_FUNCTION, LINE_STOP_FUNCTION, Max, Min, nav_in_circle, nav_in_segment, nav_route_xy(), nav_survey_active, nav_survey_east, nav_survey_north, nav_survey_shift, nav_survey_south, nav_survey_west, NavCircleWaypoint, NavCourseCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, NS, stateGetPositionEnu_f(), survey_from, survey_to, survey_uturn, SurveyGoingEast, SurveyGoingNorth, SurveyGoingSouth, SurveyGoingWest, WaypointAlt, waypoints, WaypointX, WaypointY, point::x, and point::y.

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

Definition at line 53 of file nav_survey_rectangle.c.

References LINE_START_FUNCTION, Max, Min, nav_survey_east, nav_survey_north, nav_survey_shift, nav_survey_south, nav_survey_west, NS, stateGetHorizontalSpeedDir_f(), stateGetPositionEnu_f(), survey_from, survey_to, survey_uturn, WaypointX, WaypointY, point::x, and point::y.

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Variable Documentation

struct point survey_from

static

Definition at line 33 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

survey_orientation_t survey_orientation = NS

static

Definition at line 36 of file nav_survey_rectangle.c.

struct point survey_to

static

Definition at line 34 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().

bool survey_uturn = false

static

Definition at line 35 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().