#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

◆ get_two_intersects()

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 b, 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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◆ intercept_two_lines()

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 logger_uart_parse::a1, logger_uart_parse::a2, p, FloatVect2::x, and FloatVect2::y.

Referenced by get_two_intersects().

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◆ nav_points()

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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◆ nav_survey_polygon_run()

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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◆ nav_survey_polygon_setup()

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