nav_survey_polygon.h File Reference

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

#include "std.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	SurveyPolyAdv

Enumerations
enum	SurveyStage {   ERR, ENTRY, SEG, TURN1,   RET, TURN2 }

Functions
bool_t	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_t	nav_survey_polygon_run (void)
	main navigation routine. More...

Detailed Description

Advanced polygon survey for fixedwings from Uni Stuttgart.

Definition in file nav_survey_polygon.h.

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Data Structure Documentation

struct SurveyPolyAdv

Definition at line 47 of file nav_survey_polygon.h.

Collaboration diagram for SurveyPolyAdv:

Data Fields
struct FloatVect2	dir_vec
struct FloatVect2	entry_center
uint8_t	poly_count
uint8_t	poly_first
float	psa_altitude
float	psa_min_rad
float	psa_shot_dist
float	psa_sweep_width
struct FloatVect2	rad_vec
struct FloatVect2	ret_end
struct FloatVect2	ret_start
int	return_angle
struct FloatVect2	seg_center1
struct FloatVect2	seg_center2
struct FloatVect2	seg_end
struct FloatVect2	seg_start
int	segment_angle
enum SurveyStage	stage
struct FloatVect2	sweep_vec

Enumeration Type Documentation

enum SurveyStage

Enumerator
ERR
ENTRY
SEG
TURN1
RET
TURN2

Definition at line 45 of file nav_survey_polygon.h.

Function Documentation

bool_t 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 235 of file nav_survey_polygon.c.

References CARROT, dc_stop(), dc_survey(), SurveyPolyAdv::dir_vec, ENTRY, SurveyPolyAdv::entry_center, FALSE, 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, TRUE, TURN1, TURN2, VECT2_DIFF, VECT2_SUM, FloatVect2::x, and FloatVect2::y.

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bool_t 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 SurveyPolyAdv::dir_vec, ENTRY, SurveyPolyAdv::entry_center, ERR, FALSE, 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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