Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
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  *
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13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
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17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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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 void nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist,
86  float min_rad, float altitude);
87 extern bool nav_survey_polygon_run(void);
88 
89 #endif
SurveyPolyAdv::psa_sweep_width
float psa_sweep_width
Definition: nav_survey_polygon.h:63
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
RET
@ RET
Definition: nav_survey_polygon.h:45
SurveyPolyAdv::stage
enum SurveyStage stage
Definition: nav_survey_polygon.h:74
SurveyPolyAdv::seg_center2
struct FloatVect2 seg_center2
Definition: nav_survey_polygon.h:79
SEG
@ SEG
Definition: nav_survey_polygon.h:45
SurveyPolyAdv::sweep_vec
struct FloatVect2 sweep_vec
Definition: nav_survey_polygon.h:54
SurveyPolyAdv::seg_start
struct FloatVect2 seg_start
Definition: nav_survey_polygon.h:76
SurveyPolyAdv::psa_shot_dist
float psa_shot_dist
Definition: nav_survey_polygon.h:64
SurveyPolyAdv::ret_end
struct FloatVect2 ret_end
Definition: nav_survey_polygon.h:82
pprz_algebra_float.h
Paparazzi floating point algebra.
SurveyPolyAdv::rad_vec
struct FloatVect2 rad_vec
Definition: nav_survey_polygon.h:55
ERR
@ ERR
Definition: nav_survey_polygon.h:45
FloatVect2
Definition: pprz_algebra_float.h:49
std.h
SurveyPolyAdv::psa_altitude
float psa_altitude
Definition: nav_survey_polygon.h:65
SurveyPolyAdv::dir_vec
struct FloatVect2 dir_vec
Definition: nav_survey_polygon.h:53
SurveyPolyAdv::psa_min_rad
float psa_min_rad
Definition: nav_survey_polygon.h:62
SurveyPolyAdv::segment_angle
int segment_angle
Definition: nav_survey_polygon.h:68
SurveyPolyAdv::seg_center1
struct FloatVect2 seg_center1
Definition: nav_survey_polygon.h:78
TURN2
@ TURN2
Definition: nav_survey_polygon.h:45
SurveyPolyAdv::ret_start
struct FloatVect2 ret_start
Definition: nav_survey_polygon.h:81
SurveyPolyAdv::seg_end
struct FloatVect2 seg_end
Definition: nav_survey_polygon.h:77
SurveyPolyAdv::poly_count
uint8_t poly_count
Definition: nav_survey_polygon.h:59
SurveyStage
SurveyStage
Definition: nav_survey_polygon.h:45
SurveyPolyAdv::poly_first
uint8_t poly_first
Definition: nav_survey_polygon.h:58
SurveyPolyAdv::return_angle
int return_angle
Definition: nav_survey_polygon.h:69
SurveyPolyAdv
Definition: nav_survey_polygon.h:47
ENTRY
@ ENTRY
Definition: nav_survey_polygon.h:45
altitude
static int32_t altitude
Definition: airspeed_uADC.c:59
SurveyPolyAdv::entry_center
struct FloatVect2 entry_center
Definition: nav_survey_polygon.h:80
nav_survey_polygon_run
bool nav_survey_polygon_run(void)
main navigation routine.
Definition: nav_survey_polygon.c:232
nav_survey_polygon_setup
void nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude)
initializes the variables needed for the survey to start
Definition: nav_survey_polygon.c:135
TURN1
@ TURN1
Definition: nav_survey_polygon.h:45