<!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() for employing the carrot guidance algorithm
<!--
Block example:
@verbatim
<block name="Poly Survey" strip_button="Poly Survey">
  <call_once 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>
