nav_survey_polygon.c File Reference

Advanced polygon survey for fixedwings from Uni Stuttgart. More...

#include "nav_survey_polygon.h"
#include "firmwares/fixedwing/nav.h"
#include "state.h"
#include "autopilot.h"
#include "generated/flight_plan.h"

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Functions
static void	nav_points (struct FloatVect2 start, struct FloatVect2 end)
static bool	intercept_two_lines (struct FloatVect2 *p, struct FloatVect2 x, struct FloatVect2 y, float a1, float a2, float b1, float b2)
	intercept two lines and give back the point of intersection More...
static bool	get_two_intersects (struct FloatVect2 *x, struct FloatVect2 *y, struct FloatVect2 a, struct FloatVect2 b)
	intersects a line with the polygon and gives back the two intersection points More...
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 More...
bool	nav_survey_polygon_run (void)
	main navigation routine. More...

Variables
struct SurveyPolyAdv	survey

Detailed Description

Advanced polygon survey for fixedwings from Uni Stuttgart.

Definition in file nav_survey_polygon.c.

Function Documentation

static bool get_two_intersects ( struct FloatVect2 *  x, struct FloatVect2 *  y, struct FloatVect2  a, struct FloatVect2  b  )

static

intersects a line with the polygon and gives back the two intersection points

Returns

TRUE if two intersection can be found, else FALSE

Parameters

x,y	intersection points
a,b	define the line to intersection

Definition at line 78 of file nav_survey_polygon.c.

References SurveyPolyAdv::dir_vec, intercept_two_lines(), SurveyPolyAdv::poly_count, SurveyPolyAdv::poly_first, survey, waypoints, point::x, FloatVect2::x, point::y, and FloatVect2::y.

Referenced by nav_survey_polygon_run(), and nav_survey_polygon_setup().

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static bool intercept_two_lines ( struct FloatVect2 *  p, struct FloatVect2  x, struct FloatVect2  y, float  a1, float  a2, float  b1, float  b2  )

static

intercept two lines and give back the point of intersection

Returns

FALSE if no intersection can be found or intersection does not lie between points a and b else TRUE

Parameters

p	returns intersection
x,y	first line is defined by point x and y (goes through this points)
a1,a2,b1,b2	second line by coordinates a1/a2, b1/b2

Definition at line 55 of file nav_survey_polygon.c.

References FloatVect2::x, and FloatVect2::y.

Referenced by get_two_intersects().

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static void nav_points ( struct FloatVect2  start, struct FloatVect2  end  )

static

Definition at line 42 of file nav_survey_polygon.c.

References nav_route_xy(), FloatVect2::x, and FloatVect2::y.

Referenced by nav_survey_polygon_run().

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bool nav_survey_polygon_run

(

void

)

main navigation routine.

This is called periodically evaluates the current Position and stage and navigates accordingly.

Returns

True until the survey is finished

Definition at line 232 of file nav_survey_polygon.c.

References CARROT, dc_stop(), dc_survey(), SurveyPolyAdv::dir_vec, ENTRY, SurveyPolyAdv::entry_center, get_two_intersects(), last_x, last_y, nav_approaching_xy(), nav_circle_XY(), nav_init_stage(), nav_points(), NavCourseCloseTo, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, SurveyPolyAdv::psa_altitude, SurveyPolyAdv::psa_min_rad, SurveyPolyAdv::psa_shot_dist, SurveyPolyAdv::psa_sweep_width, SurveyPolyAdv::rad_vec, RET, SurveyPolyAdv::ret_end, SurveyPolyAdv::ret_start, SurveyPolyAdv::return_angle, SEG, SurveyPolyAdv::seg_center1, SurveyPolyAdv::seg_center2, SurveyPolyAdv::seg_end, SurveyPolyAdv::seg_start, SurveyPolyAdv::segment_angle, SurveyPolyAdv::stage, stateGetPositionUtm_f(), survey, SurveyPolyAdv::sweep_vec, TURN1, TURN2, VECT2_DIFF, VECT2_SUM, FloatVect2::x, and FloatVect2::y.

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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

Parameters

first_wp	the first Waypoint of the polygon
size	the number of points that make up the polygon
angle	angle in which to do the flyovers
sweep_width	distance between the sweeps
shot_dist	distance between the shots
min_rad	minimal radius when navigating
altitude	the altitude that must be reached before the flyover starts

Definition at line 135 of file nav_survey_polygon.c.

References altitude, SurveyPolyAdv::dir_vec, ENTRY, SurveyPolyAdv::entry_center, ERR, FLOAT_VECT2_NORMALIZE, get_two_intersects(), NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, SurveyPolyAdv::poly_count, SurveyPolyAdv::poly_first, SurveyPolyAdv::psa_altitude, SurveyPolyAdv::psa_min_rad, SurveyPolyAdv::psa_shot_dist, SurveyPolyAdv::psa_sweep_width, SurveyPolyAdv::rad_vec, SurveyPolyAdv::return_angle, SurveyPolyAdv::seg_end, SurveyPolyAdv::seg_start, SurveyPolyAdv::segment_angle, SurveyPolyAdv::stage, survey, SurveyPolyAdv::sweep_vec, VECT2_COPY, VECT2_DIFF, VECT2_SMUL, VECT2_SUM, waypoints, point::x, FloatVect2::x, point::y, and FloatVect2::y.

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Variable Documentation

struct SurveyPolyAdv survey

Definition at line 40 of file nav_survey_polygon.c.

Referenced by get_two_intersects(), nav_survey_polygon_run(), and nav_survey_polygon_setup().