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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"
+ Include dependency graph for nav_survey_rectangle.c:

Go to the source code of this file.

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_t 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_init ( uint8_t  wp1,
uint8_t  wp2,
float  grid,
survey_orientation_t  so 
)

Variable Documentation

struct point survey_from
static

Definition at line 33 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().

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_t survey_uturn = FALSE
static

Definition at line 35 of file nav_survey_rectangle.c.

Referenced by nav_survey_rectangle(), and nav_survey_rectangle_init().