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typo correction

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some modification in sweep variable suggested by HopperFly
This commit is contained in:
agressiva
2015-05-03 16:44:18 -03:00
parent 96c80e1e6e
commit 02ec687b59
2 changed files with 9 additions and 11 deletions
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conf/flight_plans/rotorcraft_survey.xml
+4 -2
View File
@@ -3,6 +3,8 @@
<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
<header>
#include "autopilot.h"
#define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
#define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
@@ -68,11 +70,11 @@
<survey_rectangle grid="30" orientation="NS" wp1="S1" wp2="S2"/>
</block>
<block group="extra_pattern" name="Survey S1-S2 NS" strip_button="Svy-NS" strip_icon="survey.png">
<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, 0, NS)"/>
<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, NS)"/>
<deroute block="Survey RECTANGLE RUN"/>
</block>
<block group="extra_pattern" name="Survey S1-S2 LO" strip_button="Svy-LO" strip_icon="survey_we.png">
<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, 0, WE)"/>
<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, WE)"/>
<deroute block="Survey RECTANGLE RUN"/>
</block>
<block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="Svy CONT">
sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c
+5 -9
View File
@@ -46,8 +46,7 @@
#include "state.h"
float sweep = RECTANGLE_SURVEY_DEFAULT_SWEEP;
static bool_t nav_survey_retange_active = FALSE;
static bool_t nav_survey_rectangle_active = FALSE;
uint16_t rectangle_survey_sweep_num;
bool_t nav_in_segment = FALSE;
bool_t nav_in_circle = FALSE;
@@ -60,7 +59,6 @@ static survey_orientation_t survey_orientation = NS;
float nav_survey_shift;
float nav_survey_west, nav_survey_east, nav_survey_north, nav_survey_south;
//bool_t nav_survey_active;
#define SurveyGoingNorth() ((survey_orientation == NS) && (survey_to.y > survey_from.y))
#define SurveyGoingSouth() ((survey_orientation == NS) && (survey_to.y < survey_from.y))
@@ -93,7 +91,6 @@ void nav_survey_rectangle_rotorcraft_init(void)
bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid, survey_orientation_t so)
{
if (grid == 0) {grid = sweep;}
rectangle_survey_sweep_num = 0;
nav_survey_west = Min(WaypointX(wp1), WaypointX(wp2));
nav_survey_east = Max(WaypointX(wp1), WaypointX(wp2));
@@ -134,7 +131,7 @@ bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float gri
}
nav_survey_shift = grid;
survey_uturn = FALSE;
nav_survey_retange_active = FALSE;
nav_survey_rectangle_active = FALSE;
//go to start position
ENU_BFP_OF_REAL(survey_from_i, survey_from);
@@ -142,7 +139,6 @@ bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float gri
VECT3_COPY(navigation_target, survey_from_i);
LINE_STOP_FUNCTION;
NavVerticalAltitudeMode(waypoints[wp1].enu_f.z, 0.);
//=======NavVerticalAutoThrottleMode(0.); /* No pitch */
if (survey_orientation == NS) {
nav_set_heading_deg(0);
} else {
@@ -159,11 +155,11 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2)
nav_survey_active = TRUE;
/* entry scan */ // wait for start position and altitude be reached
if (!nav_survey_retange_active && ((!nav_approaching_from(&survey_from_i, NULL, 0))
if (!nav_survey_rectangle_active && ((!nav_approaching_from(&survey_from_i, NULL, 0))
|| (fabsf(stateGetPositionEnu_f()->z - waypoints[wp1].enu_f.z)) > 1.)) {
} else {
if (!nav_survey_retange_active) {
nav_survey_retange_active = TRUE;
if (!nav_survey_rectangle_active) {
nav_survey_rectangle_active = TRUE;
LINE_START_FUNCTION;
}