#include "std.h"

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Functions
void	nav_survey_poly_setup (uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation)
	Setup polygon survey. More...

void	nav_survey_poly_setup_towards (uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP)
	Setup "dynamic" polygon survey with sweep orientation towards a waypoint. More...

bool	nav_survey_poly_run (void)
	Run polygon survey. More...

Variables
uint8_t	Poly_Size

float	Poly_Distance

uint16_t	PolySurveySweepNum

uint16_t	PolySurveySweepBackNum

bool	Half_Sweep_Enabled

Function Documentation

◆ nav_survey_poly_run()

bool nav_survey_poly_run ( void )

Run polygon survey.

Definition at line 307 of file nav_survey_poly_rotorcraft.c.

References CSurveyStatus, dc_distance_interval, dc_send_command(), DC_SHOOT, dSweep, EdgeMaxY, EdgeMinY, Edges, Entry, EvaluateLineForX(), Half_Sweep_Enabled, Init, LINE_START_FUNCTION, LINE_STOP_FUNCTION, MaxY, nav, RotorcraftNavigation::nav_approaching, RotorcraftNavigation::nav_goto, nav_init_stage(), RotorcraftNavigation::nav_route, nav_survey_shift, Poly_Distance, PolySurveySweepBackNum, PolySurveySweepNum, RotateAndTranslateToWorld(), SmallestCorner, stateGetPositionEnu_f(), survey_from, survey_to, SurveyEntry, SurveyEntryWP, SurveyFromWP, SurveySize, SurveyTheta, SurveyToWP, Sweep, Turn, VECT3_COPY, waypoints, EnuCoor_f::x, Point2D::x, EnuCoor_f::y, Point2D::y, and EnuCoor_f::z.

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◆ nav_survey_poly_setup()

void nav_survey_poly_setup	(	uint8_t	FirstWP,
		uint8_t	Size,
		float	Sweep,
		float	Orientation
	)

Setup polygon survey.

Parameters

FirstWP	first waypoint/corner of the polygon
Size	number of waypoints/corners used to define the polygon
Sweep	distance between scan lines
Orientation	angle of scan lines in degrees (CCW, east)

Definition at line 123 of file nav_survey_poly_rotorcraft.c.

References Line::b, CSurveyStatus, dSweep, EdgeMaxY, EdgeMinY, Edges, Entry, EvaluateLineForX(), FindInterceptOfTwoLines(), Init, LINE_STOP_FUNCTION, Line::m, MaxFloat, MaxPolygonSize, MaxY, nav_set_heading_deg(), NavVerticalAltitudeMode, Poly_Distance, POLYSURVEY_ENTRY_DISTANCE, PolySurveySweepBackNum, PolySurveySweepNum, SmallestCorner, SurveyEntry, SurveyEntryWP, SurveyFromWP, SurveySize, SurveyTheta, SurveyToWP, TranslateAndRotateFromWorld(), waypoints, EnuCoor_f::x, point::x, Point2D::x, EnuCoor_f::y, point::y, and Point2D::y.

Referenced by nav_survey_poly_setup_towards().

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◆ nav_survey_poly_setup_towards()

void nav_survey_poly_setup_towards	(	uint8_t	FirstWP,
		uint8_t	Size,
		float	Sweep,
		int	SecondWP
	)

Setup "dynamic" polygon survey with sweep orientation towards a waypoint.

Computes the sweep orientation angle from the line FirstWP-SecondWP. If you pass zero for Size and/or Sweep it will use the global Poly_Size and Poly_Distance variables respectively (which can be changed via telemetry/settings).

Parameters

FirstWP	first waypoint/corner of the polygon
Size	number of waypoints/corners used to define the polygon, if zero uses Poly_Size
Sweep	distance between scan lines, if zero uses Poly_Distance
SecondWP	second waypoint towards which the sweep orientation is computed

Definition at line 63 of file nav_survey_poly_rotorcraft.c.

References nav_survey_poly_setup(), Poly_Distance, Poly_Size, Sweep, waypoints, point::x, and point::y.

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