Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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nav_survey_polygon.h File Reference

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

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

struct  SurveyPolyAdv
 

Enumerations

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

Functions

bool_t 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...
 
bool_t nav_survey_polygon_run (void)
 main navigation routine. More...
 

Detailed Description

Advanced polygon survey for fixedwings from Uni Stuttgart.

Definition in file nav_survey_polygon.h.

Enumeration Type Documentation

Enumerator
ERR 
ENTRY 
SEG 
TURN1 
RET 
TURN2 

Definition at line 45 of file nav_survey_polygon.h.

Function Documentation

bool_t 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_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 132 of file nav_survey_polygon.c.

References SurveyPolyAdv::dir_vec, ENTRY, SurveyPolyAdv::entry_center, ERR, FALSE, FLOAT_VECT2_COPY, FLOAT_VECT2_DIFF, FLOAT_VECT2_NORMALIZE, FLOAT_VECT2_SMUL, FLOAT_VECT2_SUM, get_two_intersects(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, SurveyPolyAdv::poly_count, SurveyPolyAdv::poly_first, SurveyPolyAdv::psa_altitude, SurveyPolyAdv::psa_min_rad, SurveyPolyAdv::psa_shot_dist, SurveyPolyAdv::psa_sweep_width, SurveyPolyAdv::rad_vec, SurveyPolyAdv::return_angle, SurveyPolyAdv::seg_end, SurveyPolyAdv::seg_start, SurveyPolyAdv::segment_angle, SurveyPolyAdv::stage, survey, SurveyPolyAdv::sweep_vec, waypoints, FloatVect2::x, EnuCoor_i::x, FloatVect2::y, and EnuCoor_i::y.

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