nav_survey_rectangle_rotorcraft.h File Reference

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

#include "firmwares/rotorcraft/navigation.h"

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Macros
#define	NavSurveyRectangleInit(_wp1, _wp2, _grid, _orientation)   nav_survey_rectangle_rotorcraft_setup(_wp1, _wp2, _grid, _orientation)
#define	NavSurveyRectangle(_wp1, _wp2)   nav_survey_rectangle_rotorcraft_run(_wp1, _wp2)

Enumerations
enum	survey_orientation_t { NS, WE, NS, WE }

Functions
void	nav_survey_rectangle_rotorcraft_init (void)
bool_t	nav_survey_rectangle_rotorcraft_setup (uint8_t wp1, uint8_t wp2, float grid1, survey_orientation_t so)
bool_t	nav_survey_rectangle_rotorcraft_run (uint8_t wp1, uint8_t wp2)

Variables
float	sweep
uint16_t	rectangle_survey_sweep_num
bool_t	interleave

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.h.

Macro Definition Documentation

#define NavSurveyRectangle	(		_wp1,
			_wp2
	)		nav_survey_rectangle_rotorcraft_run(_wp1, _wp2)

Definition at line 48 of file nav_survey_rectangle_rotorcraft.h.

#define NavSurveyRectangleInit	(		_wp1,
			_wp2,
			_grid,
			_orientation
	)		nav_survey_rectangle_rotorcraft_setup(_wp1, _wp2, _grid, _orientation)

Definition at line 47 of file nav_survey_rectangle_rotorcraft.h.

Enumeration Type Documentation

enum survey_orientation_t

Enumerator
NS
WE
NS
WE

Definition at line 36 of file nav_survey_rectangle_rotorcraft.h.

Function Documentation

void nav_survey_rectangle_rotorcraft_init

(

void

)

Definition at line 92 of file nav_survey_rectangle_rotorcraft.c.

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

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bool_t 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 158 of file nav_survey_rectangle_rotorcraft.c.

References dc_distance_interval, dc_send_command(), DC_SHOOT, ENU_BFP_OF_REAL, FALSE, 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, TRUE, waypoints, WaypointX, WaypointY, WE, point::x, EnuCoor_f::x, point::y, EnuCoor_f::y, and EnuCoor_i::z.

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bool_t nav_survey_rectangle_rotorcraft_setup	(	uint8_t	wp1,
		uint8_t	wp2,
		float	grid1,
		survey_orientation_t	so
	)

Definition at line 99 of file nav_survey_rectangle_rotorcraft.c.

References ENU_BFP_OF_REAL, FALSE, 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_sweep_num, stateGetPositionEnu_f(), survey_from, survey_to, survey_uturn, 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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Variable Documentation

bool_t interleave

Definition at line 59 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run().

uint16_t rectangle_survey_sweep_num

Definition at line 56 of file nav_survey_rectangle_rotorcraft.c.

Referenced by nav_survey_rectangle_rotorcraft_run(), and nav_survey_rectangle_rotorcraft_setup().

float sweep

Definition at line 54 of file nav_survey_rectangle_rotorcraft.c.