Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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nav_survey_polygon.h
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1 /*
2  * Copyright (C) 2011-2013 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
29 #ifndef NAV_SURVEY_POLYGON_H
30 #define NAV_SURVEY_POLYGON_H
31 
32 #include "std.h"
34 
35 /*
36  SurveyStage starts at ENTRY and than circles trought the other
37  states until to polygon is completely covered
38  ENTRY : getting in the right position and height for the first flyover
39  SEG : fly from seg_start to seg_end and take pictures,
40  then calculate navigation points of next flyover
41  TURN1 : do a 180° turn around seg_center1
42  RET : fly from ret_start to ret_end
43  TURN2 : do a 180° turn around seg_center2
44 */
46 
47 struct SurveyPolyAdv {
48  /*
49  The following variables are set by nav_survey_polygon_start and not changed later on
50  */
51 
52  // precomputed vectors to ease calculations
56 
57  //the polygon from the flightplan
60 
61  //desired properties of the flyover
62  float psa_min_rad;
65  float psa_altitude;
66 
67  //direction for the flyover (0° == N)
70 
71  /*
72  The Following variables are dynamic, changed while navigating.
73  */
75  // points for navigation
83 };
84 
85 extern 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);
86 extern bool_t nav_survey_polygon_run(void);
87 
88 #endif
struct FloatVect2 entry_center
struct FloatVect2 seg_end
struct FloatVect2 rad_vec
struct FloatVect2 seg_center1
struct FloatVect2 seg_start
struct FloatVect2 sweep_vec
Paparazzi floating point algebra.
struct FloatVect2 ret_end
unsigned char uint8_t
Definition: types.h:14
struct FloatVect2 dir_vec
struct FloatVect2 ret_start
struct FloatVect2 seg_center2
enum SurveyStage stage