Paparazzi UAS
v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
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Automatic survey of a rectangle for rotorcraft. More...
#include "firmwares/rotorcraft/navigation.h"
Go to the source code of this file.
Macros | |
#define | NavSurveyRectangleInit(_wp1, _wp2, _grid, _orientation) nav_survey_rectangle_rotorcraft_setup(_wp1, _wp2, _grid, _orientation) |
#define | NavSurveyRectangle(_wp1, _wp2) nav_survey_rectangle_rotorcraft_run(_wp1, _wp2) |
Enumerations | |
enum | survey_orientation_t { NS, WE, NS, WE } |
Functions | |
void | nav_survey_rectangle_rotorcraft_init (void) |
void | nav_survey_rectangle_rotorcraft_setup (uint8_t wp1, uint8_t wp2, float grid1, survey_orientation_t so) |
bool | nav_survey_rectangle_rotorcraft_run (uint8_t wp1, uint8_t wp2) |
Variables | |
float | sweep |
uint16_t | rectangle_survey_sweep_num |
bool | interleave |
Automatic survey of a rectangle for rotorcraft.
Rectangle is defined by two points, sweep can be south-north or west-east.
Definition in file nav_survey_rectangle_rotorcraft.h.
#define NavSurveyRectangle | ( | _wp1, | |
_wp2 | |||
) | nav_survey_rectangle_rotorcraft_run(_wp1, _wp2) |
Definition at line 48 of file nav_survey_rectangle_rotorcraft.h.
#define NavSurveyRectangleInit | ( | _wp1, | |
_wp2, | |||
_grid, | |||
_orientation | |||
) | nav_survey_rectangle_rotorcraft_setup(_wp1, _wp2, _grid, _orientation) |
Definition at line 47 of file nav_survey_rectangle_rotorcraft.h.
enum survey_orientation_t |
Enumerator | |
---|---|
NS | |
WE | |
NS | |
WE |
Definition at line 36 of file nav_survey_rectangle_rotorcraft.h.
void nav_survey_rectangle_rotorcraft_init | ( | void | ) |
Definition at line 92 of file nav_survey_rectangle_rotorcraft.c.
References DefaultPeriodic, register_periodic_telemetry(), and send_survey().
Do half a circle around WP 0
Do half a circle around WP 0
Definition at line 157 of file nav_survey_rectangle_rotorcraft.c.
References dc_distance_interval, dc_send_command(), DC_SHOOT, ENU_BFP_OF_REAL, horizontal_mode, HORIZONTAL_MODE_ROUTE, interleave, LINE_START_FUNCTION, LINE_STOP_FUNCTION, Max, Min, nav_approaching_from(), nav_in_circle, nav_in_segment, nav_route(), nav_survey_active, nav_survey_east, nav_survey_north, nav_survey_rectangle_active, nav_survey_shift, nav_survey_south, nav_survey_west, NS, rectangle_survey_sweep_num, stateGetPositionEnu_f(), survey_from, survey_to, survey_to_i, survey_uturn, SurveyGoingEast, SurveyGoingNorth, SurveyGoingSouth, SurveyGoingWest, waypoints, WaypointX, WaypointY, WE, point::x, EnuCoor_f::x, point::y, EnuCoor_f::y, and EnuCoor_i::z.
void nav_survey_rectangle_rotorcraft_setup | ( | uint8_t | wp1, |
uint8_t | wp2, | ||
float | grid1, | ||
survey_orientation_t | so | ||
) |
Definition at line 99 of file nav_survey_rectangle_rotorcraft.c.
References ENU_BFP_OF_REAL, horizontal_mode, HORIZONTAL_MODE_ROUTE, LINE_STOP_FUNCTION, Max, Min, nav_set_heading_deg(), nav_survey_east, nav_survey_north, nav_survey_rectangle_active, nav_survey_south, nav_survey_west, navigation_target, NavVerticalAltitudeMode, NS, rectangle_survey_sweep_num, stateGetPositionEnu_f(), survey_from, survey_to, survey_uturn, VECT3_COPY, waypoints, WaypointX, WaypointY, point::x, EnuCoor_f::x, EnuCoor_i::x, point::y, EnuCoor_f::y, and EnuCoor_i::y.
bool interleave |
Definition at line 59 of file nav_survey_rectangle_rotorcraft.c.
Referenced by nav_survey_rectangle_rotorcraft_run().
uint16_t rectangle_survey_sweep_num |
Definition at line 56 of file nav_survey_rectangle_rotorcraft.c.
Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().
float sweep |
Definition at line 54 of file nav_survey_rectangle_rotorcraft.c.