nav_survey_hybrid module

Polygon survey for hybrid aircraft.

Based on poly_osam algorithm. Compatible with generic rotorcraft.

Support mission mode with custom elements:

• points in local NED: SRVHL orientation sweep_distance radius height p1x p1y p2x p2y p3x p3y [p4x p4y]
• points in global LLA: SRVHG orientation sweep_distance radius height p1lat p1lon p2lat p2lon p3lat p3lon [p4lat p4lon]
• orientation is in degrees, 0 pointing at east, positive counter clockwise
• sweep_distance in meters
• radius can be: negative, automatically set to sweep/2; zero, not turning on circles; positive, fixed radius
• height in meters above reference point
• the polygon in mission mode can have either 3 or 4 points, with positions in meters (local) or degrees (global).

Example for airframe file

Add to your firmware section:

<module name="nav_survey_hybrid"/>

Module configuration options

Airframe file section

• section name: SURVEY_HYBRID prefix: SURVEY_HYBRID_
  • name MAX_POLYGON_SIZE value: 20
    Description: max waypoints usable in polygon survey
  • name HALF_SWEEP_ENABLED value: TRUE|FALSE
    Description: interleave sweep lines when sweeping back
  • name APPROACHING_TIME value: 3.
    Description: end of segment anticipation time
  • name MAX_SWEEP value: 0
    Description: max number of sweep lines (0 for unlimited)
  • name MAX_SWEEP_BACK value: 0
    Description: max number of sweep back, e.g. changing direction (0 for unlimited)
  • name ENTRY_DISTANCE value: 10.
    Description: distance from entry point (default: half sweep distance)

Module functions

Init Functions

These initialization functions are called once on startup.

• nav_survey_hybrid_init()

Files

Header Files

The following headers are automatically included in modules.h

• nav_survey_hybrid.h

Source Files

• modules/nav/nav_survey_hybrid.c

Raw nav_survey_hybrid.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_survey_hybrid" dir="nav" task="control">
  <doc>
    <description>
      Polygon survey for hybrid aircraft.
 
      Based on poly_osam algorithm.
      Compatible with generic rotorcraft.
 
      Support mission mode with custom elements:
      - points in local NED: SRVHL orientation sweep_distance radius height p1x p1y p2x p2y p3x p3y [p4x p4y]
      - points in global LLA: SRVHG orientation sweep_distance radius height p1lat p1lon p2lat p2lon p3lat p3lon [p4lat p4lon]
      - orientation is in degrees, 0 pointing at east, positive counter clockwise
      - sweep_distance in meters
      - radius can be: negative, automatically set to sweep/2; zero, not turning on circles; positive, fixed radius
      - height in meters above reference point
      - the polygon in mission mode can have either 3 or 4 points, with positions in meters (local) or degrees (global).
    </description>
    <section name="SURVEY_HYBRID" prefix="SURVEY_HYBRID_">
      <define name="MAX_POLYGON_SIZE" value="20" description="max waypoints usable in polygon survey"/>
      <define name="HALF_SWEEP_ENABLED" value="TRUE|FALSE" description="interleave sweep lines when sweeping back"/>
      <define name="APPROACHING_TIME" value="3." description="end of segment anticipation time"/>
      <define name="MAX_SWEEP" value="0" description="max number of sweep lines (0 for unlimited)"/>
      <define name="MAX_SWEEP_BACK" value="0" description="max number of sweep back, e.g. changing direction (0 for unlimited)"/>
      <define name="ENTRY_DISTANCE" value="10." description="distance from entry point (default: half sweep distance)"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="Survey Hybrid">
        <dl_setting min="0" max="1" step="1" var="survey_hybrid.half_sweep_enabled" type="uint8" shortname="half_sweep" values="FALSE|TRUE"/>
        <dl_setting min="0" max="50" step="1" var="survey_hybrid.sweep_nb_max" type="uint16" shortname="nb_max"/>
        <dl_setting min="0" max="50" step="1" var="survey_hybrid.sweep_back_nb_max" type="uint16" shortname="back_nb_max"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@navigation</depends>
    <recommends>@mission,@digital_cam</recommends>
  </dep>
  <header>
    <file name="nav_survey_hybrid.h"/>
  </header>
  <init fun="nav_survey_hybrid_init()"/>
  <makefile target="ap|nps">
    <file name="nav_survey_hybrid.c"/>
    <test firmware="rotorcraft">
      <define name="USE_MISSION"/>
    </test>
  </makefile>
</module>