Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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 */
38  struct FloatVect2 wp_center;
39  struct FloatVect2 wp_dir;
40  struct FloatVect2 sweep_width;
41  float altitude;
42 
47  float flight_angle;
48  float return_angle;
51  float turnradius1;
52  float turnradius2;
53  struct FloatVect2 turn_center1;
54  struct FloatVect2 turn_center2;
55  struct FloatVect2 seg_start;
56  struct FloatVect2 seg_end;
57  struct FloatVect2 ret_start;
58  struct FloatVect2 ret_end;
70 };
71 
72 
73 extern void nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing,
74  int sweep_lines, float altitude);
75 extern bool nav_survey_zamboni_run(void);
76 
77 #endif //ZAMBONI_SURVEY_H
static int32_t altitude
Definition: airspeed_uADC.c:59
struct FloatVect2 wp_center
bool nav_survey_zamboni_run(void)
main navigation routine.
struct FloatVect2 turn_center2
struct FloatVect2 wp_dir
float return_angle
in degrees
float flight_angle
in degrees
struct FloatVect2 ret_start
void nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude)
initializes the variables needed for the survey to start.
z_survey_stage stage
z_stage starts at ENTRY and than circles trought the other states until to rectangle is completely co...
struct FloatVect2 turn_center1
struct FloatVect2 sweep_width
struct FloatVect2 seg_start
struct FloatVect2 ret_end
z_survey_stage
@ Z_ENTRY
@ Z_TURN1
@ Z_RET
@ Z_TURN2
@ Z_SEG
@ Z_ERR
int pre_leave_angle
in degrees.
struct FloatVect2 seg_end
Paparazzi floating point algebra.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98