Navigation functions for cartography of the ground. More...

#include "state.h"
#include "stdio.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/flight_plan.h"
#include "std.h"
#include "modules/cartography/cartography.h"
#include "generated/modules.h"
#include "subsystems/datalink/downlink.h"
#include "mcu_periph/uart.h"

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Macros
#define	PRTDEB(TYPE, EXP) ;

#define	PRTDEBSTR(EXP) ;

#define	DISTXY(P1X, P1Y, P2X, P2Y) (sqrt( ( (P2X-P1X) * (P2X-P1X) ) + ( (P2Y-P1Y) * (P2Y-P1Y) ) ) )

#define	NORMXY(P1X, P1Y) (sqrt( ( (P1X) * (P1X) ) + ( (P1Y) * (P1Y) ) ) )

#define	DISTLIMIT 30

#define	USE_ONBOARD_CAMERA 1

Functions
void	init_carto (void)
	Automatic survey of an oriented rectangle (defined by three points) More...

void	periodic_downlink_carto (void)

void	start_carto (void)

void	stop_carto (void)

bool	nav_survey_Inc_railnumberSinceBoot (void)

bool	nav_survey_Snapshoot (void)

bool	nav_survey_Snapshoot_Continu (void)

bool	nav_survey_StopSnapshoot (void)

bool	nav_survey_computefourth_corner (uint8_t wp1, uint8_t wp2, uint8_t wp3, uint8_t wp4)

bool	nav_survey_ComputeProjectionOnLine (struct point pointAf, struct point pointBf, float pos_xf, float pos_yf, float normAMf, float normBMf, float *distancefromrailf)

bool	nav_survey_losange_carto_init (uint8_t wp1, uint8_t wp2, uint8_t wp3, float distrailinit, float distplusinit)

bool	nav_survey_losange_carto (void)

Variables
uint16_t	railnumberSinceBoot

uint16_t	camera_snapshot_image_number = 0

bool	survey_losange_uturn

int	railnumber

int	numberofrailtodo

float	distrail

float	distplus

float	distrailinteractif

static struct point point1 point2	point3

static struct point pointA pointB	pointC

static struct point vec12	vec13

float	norm12

float	norm13

float	tempx

float	tempy

float	angle1213

float	signforturn

float	tempcircleradius

float	circleradiusmin = 40

float	normBM

float	normAM

float	distancefromrail

float	course_next_rail

float	angle_between

bool	ProjectionInsideLimitOfRail

Detailed Description

Navigation functions for cartography of the ground.

Definition in file cartography.c.

Macro Definition Documentation

#define DISTLIMIT 30

Definition at line 80 of file cartography.c.

Referenced by nav_survey_losange_carto().

#define DISTXY	(	P1X,
		P1Y,
		P2X,
		P2Y
	)	(sqrt( ( (P2X-P1X) * (P2X-P1X) ) + ( (P2Y-P1Y) * (P2Y-P1Y) ) ) )

Definition at line 71 of file cartography.c.

Referenced by nav_survey_ComputeProjectionOnLine(), and nav_survey_losange_carto().

#define NORMXY	(	P1X,
		P1Y
	)	(sqrt( ( (P1X) * (P1X) ) + ( (P1Y) * (P1Y) ) ) )

Definition at line 74 of file cartography.c.

Referenced by nav_survey_ComputeProjectionOnLine(), and nav_survey_losange_carto_init().

#define PRTDEB	(	TYPE,
		EXP
	)	;

Definition at line 54 of file cartography.c.

Referenced by nav_survey_computefourth_corner(), nav_survey_ComputeProjectionOnLine(), nav_survey_losange_carto(), and nav_survey_losange_carto_init().

#define PRTDEBSTR ( EXP ) ;

Definition at line 57 of file cartography.c.

Referenced by nav_survey_computefourth_corner(), nav_survey_ComputeProjectionOnLine(), nav_survey_losange_carto(), nav_survey_Snapshoot(), nav_survey_Snapshoot_Continu(), and nav_survey_StopSnapshoot().

#define USE_ONBOARD_CAMERA 1

Definition at line 89 of file cartography.c.

Function Documentation

void init_carto ( void )

Automatic survey of an oriented rectangle (defined by three points)

Definition at line 148 of file cartography.c.

bool nav_survey_computefourth_corner	(	uint8_t	wp1,
		uint8_t	wp2,
		uint8_t	wp3,
		uint8_t	wp4
	)

Definition at line 211 of file cartography.c.

References nav_survey_computefourth_corner(), PRTDEB, PRTDEBSTR, waypoints, point::x, and point::y.

Referenced by nav_survey_computefourth_corner().

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bool nav_survey_ComputeProjectionOnLine	(	struct point	pointAf,
		struct point	pointBf,
		float	pos_xf,
		float	pos_yf,
		float *	normAMf,
		float *	normBMf,
		float *	distancefromrailf
	)