Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
nav_survey_polygon_gvf.h
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1 /*
2  * Copyright (C) 2017 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)
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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,
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20  */
21 
30 #ifndef NAV_SURVEY_POLYGON_GVF_H
31 #define NAV_SURVEY_POLYGON_GVF_H
32 
33 #include "std.h"
35 
36 /*
37  SurveyStage starts at ENTRY and than circles trought the other
38  states until to polygon is completely covered
39  ENTRY : getting in the right position and height for the first flyover
40  SEG : fly from seg_start to seg_end and take pictures,
41  then calculate navigation points of next flyover
42  TURN1 : do a 180° turn around seg_center1
43  RET : fly from ret_start to ret_end
44  TURN2 : do a 180° turn around seg_center2
45 */
47 
49  /*
50  The following variables are set by nav_survey_polygon_start and not changed later on
51  */
52 
53  // precomputed vectors to ease calculations
57 
58  //the polygon from the flightplan
61 
62  //desired properties of the flyover
63  float psa_min_rad;
66  float psa_altitude;
67 
68  //direction for the flyover (0° == N)
71 
72  /*
73  The Following variables are dynamic, changed while navigating.
74  */
76  // points for navigation
84 };
85 
86 // external setting
87 extern void gvf_nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist,
88  float min_rad, float altitude);
89 
90 void gvf_nav_direction_circle(float rad);
91 extern bool gvf_nav_survey_polygon_run(void);
92 
93 #endif
gvf_SurveyPolyAdv::seg_center2
struct FloatVect2 seg_center2
Definition: nav_survey_polygon_gvf.h:80
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
gvf_nav_survey_polygon_setup
void gvf_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_gvf.c:135
gvf_SurveyPolyAdv::psa_min_rad
float psa_min_rad
Definition: nav_survey_polygon_gvf.h:63
gvf_SurveyPolyAdv::ret_start
struct FloatVect2 ret_start
Definition: nav_survey_polygon_gvf.h:82
gvf_SurveyPolyAdv::poly_first
uint8_t poly_first
Definition: nav_survey_polygon_gvf.h:59
gvf_nav_survey_polygon_run
bool gvf_nav_survey_polygon_run(void)
Definition: nav_survey_polygon_gvf.c:245
gRET
@ gRET
Definition: nav_survey_polygon_gvf.h:46
gvf_SurveyPolyAdv::poly_count
uint8_t poly_count
Definition: nav_survey_polygon_gvf.h:60
gvf_SurveyStage
gvf_SurveyStage
Definition: nav_survey_polygon_gvf.h:46
gvf_SurveyPolyAdv::segment_angle
int segment_angle
Definition: nav_survey_polygon_gvf.h:69
gvf_SurveyPolyAdv::psa_altitude
float psa_altitude
Definition: nav_survey_polygon_gvf.h:66
pprz_algebra_float.h
Paparazzi floating point algebra.
gvf_nav_direction_circle
void gvf_nav_direction_circle(float rad)
main navigation routine.
Definition: nav_survey_polygon_gvf.c:236
FloatVect2
Definition: pprz_algebra_float.h:49
std.h
gTURN1
@ gTURN1
Definition: nav_survey_polygon_gvf.h:46
gvf_SurveyPolyAdv::sweep_vec
struct FloatVect2 sweep_vec
Definition: nav_survey_polygon_gvf.h:55
gSEG
@ gSEG
Definition: nav_survey_polygon_gvf.h:46
gvf_SurveyPolyAdv::return_angle
int return_angle
Definition: nav_survey_polygon_gvf.h:70
gENTRY
@ gENTRY
Definition: nav_survey_polygon_gvf.h:46
gvf_SurveyPolyAdv::seg_center1
struct FloatVect2 seg_center1
Definition: nav_survey_polygon_gvf.h:79
gvf_SurveyPolyAdv::psa_shot_dist
float psa_shot_dist
Definition: nav_survey_polygon_gvf.h:65
gTURN2
@ gTURN2
Definition: nav_survey_polygon_gvf.h:46
gvf_SurveyPolyAdv::rad_vec
struct FloatVect2 rad_vec
Definition: nav_survey_polygon_gvf.h:56
altitude
static int32_t altitude
Definition: airspeed_uADC.c:59
gvf_SurveyPolyAdv::dir_vec
struct FloatVect2 dir_vec
Definition: nav_survey_polygon_gvf.h:54
gvf_SurveyPolyAdv::seg_start
struct FloatVect2 seg_start
Definition: nav_survey_polygon_gvf.h:77
gvf_SurveyPolyAdv::psa_sweep_width
float psa_sweep_width
Definition: nav_survey_polygon_gvf.h:64
gERR
@ gERR
Definition: nav_survey_polygon_gvf.h:46
gvf_SurveyPolyAdv
Definition: nav_survey_polygon_gvf.h:48
gvf_SurveyPolyAdv::entry_center
struct FloatVect2 entry_center
Definition: nav_survey_polygon_gvf.h:81
gvf_SurveyPolyAdv::stage
enum gvf_SurveyStage stage
Definition: nav_survey_polygon_gvf.h:75
gvf_SurveyPolyAdv::ret_end
struct FloatVect2 ret_end
Definition: nav_survey_polygon_gvf.h:83
gvf_SurveyPolyAdv::seg_end
struct FloatVect2 seg_end
Definition: nav_survey_polygon_gvf.h:78