Survey a polygon with a fixedwing

Module XML file: nav_survey_polygon.xml

From Uni Stuttgart. In the flight plan, the survey blocks call init and run functions:

1. Initialize the variables needed for the survey to start, with nav_survey_polygon_setup(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude):
   • first_wp the first Waypoint of the polygon (WP_waypoint_name)
   • 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
2. Run the survey with nav_survey_polygon_run()

Example for airframe file

<modules>
  <load name="nav_survey_polygon.xml"/>
</modules>

Files

Header Files

The following headers are automatically included in modules.h

• nav_survey_polygon.h

Source Files

• modules/nav/nav_survey_polygon.c

Raw nav_survey_polygon.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="nav_survey_polygon" dir="nav">
  <doc>
    <description>
Survey a polygon with a fixedwing.
From Uni Stuttgart.
In the flight plan, the survey blocks call init and run functions:
1. Initialize the variables needed for the survey to start, with nav_survey_polygon_setup(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude):
  - first_wp      the first Waypoint of the polygon (WP_waypoint_name)
  - 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
2. Run the survey with nav_survey_polygon_run()
<!--
Block example:
@verbatim
<block name="Poly Survey" strip_button="Poly Survey">
  <call fun="nav_survey_polygon_setup(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude)"/>
  <call fun="nav_survey_polygon_run()"/>
</block>
@endverbatim
-->
    </description>
  </doc>
  <header>
    <file name="nav_survey_polygon.h"/>
  </header>
  <makefile target="ap|sim|nps">
    <file name="nav_survey_polygon.c"/>
  </makefile>
</module>