Paparazzi UAS  v6.2_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 */
41  float altitude;
42 
47  float flight_angle;
48  float return_angle;
51  float turnradius1;
52  float turnradius2;
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
ZamboniSurvey
Definition: nav_survey_zamboni.h:36
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
ZamboniSurvey::return_angle
float return_angle
in degrees
Definition: nav_survey_zamboni.h:48
Z_TURN1
@ Z_TURN1
Definition: nav_survey_zamboni.h:34
ZamboniSurvey::turnradius1
float turnradius1
Definition: nav_survey_zamboni.h:51
ZamboniSurvey::total_laps
int total_laps
Definition: nav_survey_zamboni.h:50
ZamboniSurvey::seg_start
struct FloatVect2 seg_start
Definition: nav_survey_zamboni.h:55
ZamboniSurvey::sweep_width
struct FloatVect2 sweep_width
Definition: nav_survey_zamboni.h:40
pprz_algebra_float.h
Paparazzi floating point algebra.
ZamboniSurvey::turn_center1
struct FloatVect2 turn_center1
Definition: nav_survey_zamboni.h:53
ZamboniSurvey::altitude
float altitude
Definition: nav_survey_zamboni.h:41
ZamboniSurvey::turnradius2
float turnradius2
Definition: nav_survey_zamboni.h:52
FloatVect2
Definition: pprz_algebra_float.h:49
Z_ERR
@ Z_ERR
Definition: nav_survey_zamboni.h:34
std.h
ZamboniSurvey::ret_start
struct FloatVect2 ret_start
Definition: nav_survey_zamboni.h:57
ZamboniSurvey::pre_leave_angle
int pre_leave_angle
in degrees.
Definition: nav_survey_zamboni.h:46
ZamboniSurvey::turn_center2
struct FloatVect2 turn_center2
Definition: nav_survey_zamboni.h:54
ZamboniSurvey::seg_end
struct FloatVect2 seg_end
Definition: nav_survey_zamboni.h:56
nav_survey_zamboni_run
bool nav_survey_zamboni_run(void)
main navigation routine.
Definition: nav_survey_zamboni.c:129
Z_SEG
@ Z_SEG
Definition: nav_survey_zamboni.h:34
Z_TURN2
@ Z_TURN2
Definition: nav_survey_zamboni.h:34
ZamboniSurvey::stage
z_survey_stage stage
z_stage starts at ENTRY and than circles trought the other states until to rectangle is completely co...
Definition: nav_survey_zamboni.h:69
ZamboniSurvey::flight_angle
float flight_angle
in degrees
Definition: nav_survey_zamboni.h:47
ZamboniSurvey::current_laps
int current_laps
Definition: nav_survey_zamboni.h:49
Z_RET
@ Z_RET
Definition: nav_survey_zamboni.h:34
ZamboniSurvey::ret_end
struct FloatVect2 ret_end
Definition: nav_survey_zamboni.h:58
altitude
static int32_t altitude
Definition: airspeed_uADC.c:59
z_survey_stage
z_survey_stage
Definition: nav_survey_zamboni.h:34
ZamboniSurvey::wp_center
struct FloatVect2 wp_center
Definition: nav_survey_zamboni.h:38
ZamboniSurvey::wp_dir
struct FloatVect2 wp_dir
Definition: nav_survey_zamboni.h:39
Z_ENTRY
@ Z_ENTRY
Definition: nav_survey_zamboni.h:34
nav_survey_zamboni_setup
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.
Definition: nav_survey_zamboni.c:57