Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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nav_survey_zamboni.h
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1 /*
2  * Copyright (C) 2013 Jorn Anke, Felix Ruess
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 
28 #ifndef NAV_SURVEY_ZAMBONI_H
29 #define NAV_SURVEY_ZAMBONI_H
30 
31 #include "std.h"
33 
35 
36 struct ZamboniSurvey {
37  /* variables used to store values from the flight plan */
41  float altitude;
42 
47  float flight_angle;
48  float return_angle;
51  float turnradius1;
52  float turnradius2;
70 };
71 
72 
73 extern bool_t nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude);
74 extern bool_t nav_survey_zamboni_run(void);
75 
76 #endif //ZAMBONI_SURVEY_H
float flight_angle
in degrees
struct FloatVect2 turn_center1
struct FloatVect2 ret_end
Paparazzi floating point algebra.
struct FloatVect2 turn_center2
int pre_leave_angle
in degrees.
struct FloatVect2 seg_end
unsigned char uint8_t
Definition: types.h:14
struct FloatVect2 sweep_width
struct FloatVect2 ret_start
float return_angle
in degrees
struct FloatVect2 wp_center
struct FloatVect2 wp_dir
z_survey_stage stage
z_stage starts at ENTRY and than circles trought the other states until to rectangle is completely co...
struct FloatVect2 seg_start