nav_survey_rectangle_rotorcraft.c File Reference

Automatic survey of a rectangle for rotorcraft. More...

#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/datalink/telemetry.h"
#include "firmwares/rotorcraft/navigation.h"
#include "modules/nav/nav_survey_rectangle_rotorcraft.h"
#include "state.h"
#include "generated/flight_plan.h"

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Macros
#define	RECTANGLE_SURVEY_DEFAULT_SWEEP   25
#define	USE_INTERLEAVE   FALSE
#define	RECTANGLE_SURVEY_HEADING_NS   0.f
#define	RECTANGLE_SURVEY_HEADING_WE   90.f
#define	SurveyGoingNorth()   ((survey_orientation == NS) && (survey_to.y > survey_from.y))
#define	SurveyGoingSouth()   ((survey_orientation == NS) && (survey_to.y < survey_from.y))
#define	SurveyGoingEast()   ((survey_orientation == WE) && (survey_to.x > survey_from.x))
#define	SurveyGoingWest()   ((survey_orientation == WE) && (survey_to.x < survey_from.x))
#define	LINE_START_FUNCTION   {}
#define	LINE_STOP_FUNCTION   {}

Functions
static void	send_survey (struct transport_tx *trans, struct link_device *dev)
void	nav_survey_rectangle_rotorcraft_init (void)
void	nav_survey_rectangle_rotorcraft_setup (uint8_t wp1, uint8_t wp2, float grid, survey_orientation_t so)
bool	nav_survey_rectangle_rotorcraft_run (uint8_t wp1, uint8_t wp2)

Variables
float	sweep = RECTANGLE_SURVEY_DEFAULT_SWEEP
static bool	nav_survey_rectangle_active = false
uint16_t	rectangle_survey_sweep_num
bool	nav_in_segment = false
bool	nav_in_circle = false
bool	interleave = USE_INTERLEAVE
static struct EnuCoor_f survey_from	survey_to
static struct EnuCoor_i survey_from_i	survey_to_i
static bool	survey_uturn = false
static survey_orientation_t	survey_orientation = NS
float	nav_survey_shift
float	nav_survey_west
float	nav_survey_east
float	nav_survey_north
float	nav_survey_south

Detailed Description

Automatic survey of a rectangle for rotorcraft.

Rectangle is defined by two points, sweep can be south-north or west-east.

Definition in file nav_survey_rectangle_rotorcraft.c.

Macro Definition Documentation

#define LINE_START_FUNCTION   {}

Definition at line 86 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

#define LINE_STOP_FUNCTION   {}

Definition at line 89 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

#define RECTANGLE_SURVEY_DEFAULT_SWEEP   25

Definition at line 32 of file nav_survey_rectangle_rotorcraft.c.

#define RECTANGLE_SURVEY_HEADING_NS   0.f

Definition at line 55 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_setup().

#define RECTANGLE_SURVEY_HEADING_WE   90.f

Definition at line 59 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_setup().

#define SurveyGoingEast

(

)

((survey_orientation == WE) && (survey_to.x > survey_from.x))

Definition at line 80 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

#define SurveyGoingNorth

(

)

((survey_orientation == NS) && (survey_to.y > survey_from.y))

Definition at line 78 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

#define SurveyGoingSouth

(

)

((survey_orientation == NS) && (survey_to.y < survey_from.y))

Definition at line 79 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

#define SurveyGoingWest

(

)

((survey_orientation == WE) && (survey_to.x < survey_from.x))

Definition at line 81 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

#define USE_INTERLEAVE   FALSE

Definition at line 38 of file nav_survey_rectangle_rotorcraft.c.

Function Documentation

void nav_survey_rectangle_rotorcraft_init

(

void

)

Definition at line 100 of file nav_survey_rectangle_rotorcraft.c.

References DefaultPeriodic, register_periodic_telemetry(), and send_survey().

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bool nav_survey_rectangle_rotorcraft_run	(	uint8_t	wp1,
		uint8_t	wp2
	)

Do half a circle around WP 0

Do half a circle around WP 0

Definition at line 165 of file nav_survey_rectangle_rotorcraft.c.

References dc_distance_interval, dc_send_command(), DC_SHOOT, ENU_BFP_OF_REAL, horizontal_mode, HORIZONTAL_MODE_ROUTE, interleave, LINE_START_FUNCTION, LINE_STOP_FUNCTION, Max, Min, nav_approaching_from(), nav_in_circle, nav_in_segment, nav_route(), nav_survey_active, nav_survey_east, nav_survey_north, nav_survey_rectangle_active, nav_survey_shift, nav_survey_south, nav_survey_west, NS, rectangle_survey_sweep_num, stateGetPositionEnu_f(), survey_from, survey_to, survey_to_i, survey_uturn, SurveyGoingEast, SurveyGoingNorth, SurveyGoingSouth, SurveyGoingWest, sweep, waypoints, WaypointX, WaypointY, WE, point::x, EnuCoor_f::x, point::y, EnuCoor_f::y, and EnuCoor_i::z.

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void nav_survey_rectangle_rotorcraft_setup	(	uint8_t	wp1,
		uint8_t	wp2,
		float	grid,
		survey_orientation_t	so
	)

Definition at line 107 of file nav_survey_rectangle_rotorcraft.c.

References ENU_BFP_OF_REAL, horizontal_mode, HORIZONTAL_MODE_ROUTE, LINE_STOP_FUNCTION, Max, Min, nav_set_heading_deg(), nav_survey_east, nav_survey_north, nav_survey_rectangle_active, nav_survey_south, nav_survey_west, navigation_target, NavVerticalAltitudeMode, NS, RECTANGLE_SURVEY_HEADING_NS, RECTANGLE_SURVEY_HEADING_WE, rectangle_survey_sweep_num, stateGetPositionEnu_f(), survey_from, survey_to, survey_uturn, sweep, VECT3_COPY, waypoints, WaypointX, WaypointY, point::x, EnuCoor_f::x, EnuCoor_i::x, point::y, EnuCoor_f::y, and EnuCoor_i::y.

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static void send_survey ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 92 of file nav_survey_rectangle_rotorcraft.c.

References nav_survey_active.

Referenced by nav_survey_rectangle_rotorcraft_init().

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Variable Documentation

bool interleave = USE_INTERLEAVE

Definition at line 67 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

bool nav_in_circle = false

Definition at line 66 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

bool nav_in_segment = false

Definition at line 65 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

float nav_survey_east

Definition at line 76 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

float nav_survey_north

Definition at line 76 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

bool nav_survey_rectangle_active = false

static

Definition at line 63 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

float nav_survey_shift

Definition at line 75 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

float nav_survey_south

Definition at line 76 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

float nav_survey_west

Definition at line 76 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

uint16_t rectangle_survey_sweep_num

Definition at line 64 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

survey_orientation_t survey_orientation = NS

static

Definition at line 73 of file nav_survey_rectangle_rotorcraft.c.

struct EnuCoor_f survey_from survey_to

static

Definition at line 69 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

struct EnuCoor_i survey_from_i survey_to_i

static

Definition at line 70 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

bool survey_uturn = false

static

Definition at line 72 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

float sweep = RECTANGLE_SURVEY_DEFAULT_SWEEP

Definition at line 62 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().