nav_survey_zamboni.h File Reference

Zamboni pattern survey for fixedwings. More...

#include "std.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	ZamboniSurvey

Enumerations
enum	z_survey_stage {   Z_ERR, Z_ENTRY, Z_SEG, Z_TURN1,   Z_RET, Z_TURN2 }

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...

Detailed Description

Zamboni pattern survey for fixedwings.

Definition in file nav_survey_zamboni.h.

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Data Structure Documentation

struct ZamboniSurvey

Definition at line 36 of file nav_survey_zamboni.h.

Collaboration diagram for ZamboniSurvey:

Data Fields
float	altitude
int	current_laps
float	flight_angle	in degrees
int	pre_leave_angle	in degrees. Leave turncircles a small angle before the 180deg turns are completed to get a smoother transition to flight-lines
struct FloatVect2	ret_end
struct FloatVect2	ret_start
float	return_angle	in degrees
struct FloatVect2	seg_end
struct FloatVect2	seg_start
z_survey_stage	stage	z_stage starts at ENTRY and than circles trought the other states until to rectangle is completely covered ENTRY : getting in the right position and height for the first flyover SEG : fly from seg_start to seg_end and take pictures, then calculate navigation points of next flyover TURN1 : do a 180° turn around seg_center1 RET : fly from ret_start to ret_end TURN2 : do a 180° turn around seg_center2
struct FloatVect2	sweep_width
int	total_laps
struct FloatVect2	turn_center1
struct FloatVect2	turn_center2
float	turnradius1
float	turnradius2
struct FloatVect2	wp_center
struct FloatVect2	wp_dir

Enumeration Type Documentation

enum z_survey_stage

Enumerator
Z_ERR
Z_ENTRY
Z_SEG
Z_TURN1
Z_RET
Z_TURN2

Definition at line 34 of file nav_survey_zamboni.h.

Function Documentation

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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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.