From 044659893156a83d2ce7a5c199ec8da311750974 Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Mon, 4 Nov 2013 23:40:52 +0100 Subject: [PATCH] [nav] trying to harmonize nav modules --- conf/flight_plans/nav_modules.xml | 26 ++++++++--------- conf/modules/nav_bungee_takeoff.xml | 13 ++++++++- ...av_border_line.xml => nav_line_border.xml} | 10 +++---- ...av_disc_survey.xml => nav_survey_disc.xml} | 6 ++-- ...boni_survey.xml => nav_survey_zamboni.xml} | 7 ++--- sw/airborne/modules/nav/nav_bungee_takeoff.c | 4 +-- sw/airborne/modules/nav/nav_bungee_takeoff.h | 5 ++-- sw/airborne/modules/nav/nav_flower.c | 4 +-- sw/airborne/modules/nav/nav_flower.h | 4 +-- .../{nav_border_line.c => nav_line_border.c} | 28 +++++++++---------- .../{nav_border_line.h => nav_line_border.h} | 12 ++++---- sw/airborne/modules/nav/nav_line_osam.c | 8 +++--- sw/airborne/modules/nav/nav_line_osam.h | 4 +-- .../{nav_disc_survey.c => nav_survey_disc.c} | 8 +++--- .../{nav_disc_survey.h => nav_survey_disc.h} | 12 ++++---- ...y_survey_osam.c => nav_survey_poly_osam.c} | 8 +++--- ...y_survey_osam.h => nav_survey_poly_osam.h} | 10 +++---- ...{zamboni_survey.c => nav_survey_zamboni.c} | 8 +++--- ...{zamboni_survey.h => nav_survey_zamboni.h} | 10 +++---- sw/airborne/modules/nav/nav_vertical_raster.c | 4 +-- sw/airborne/modules/nav/nav_vertical_raster.h | 4 +-- 21 files changed, 103 insertions(+), 92 deletions(-) rename conf/modules/{nav_border_line.xml => nav_line_border.xml} (69%) rename conf/modules/{nav_disc_survey.xml => nav_survey_disc.xml} (59%) rename conf/modules/{zamboni_survey.xml => nav_survey_zamboni.xml} (61%) rename sw/airborne/modules/nav/{nav_border_line.c => nav_line_border.c} (86%) rename sw/airborne/modules/nav/{nav_border_line.h => nav_line_border.h} (78%) rename sw/airborne/modules/nav/{nav_disc_survey.c => nav_survey_disc.c} (94%) rename sw/airborne/modules/nav/{nav_disc_survey.h => nav_survey_disc.h} (78%) rename sw/airborne/modules/nav/{nav_poly_survey_osam.c => nav_survey_poly_osam.c} (98%) rename sw/airborne/modules/nav/{nav_poly_survey_osam.h => nav_survey_poly_osam.h} (78%) rename sw/airborne/modules/nav/{zamboni_survey.c => nav_survey_zamboni.c} (96%) rename sw/airborne/modules/nav/{zamboni_survey.h => nav_survey_zamboni.h} (88%) diff --git a/conf/flight_plans/nav_modules.xml b/conf/flight_plans/nav_modules.xml index 5d99ea4570..bebc4e0dd8 100644 --- a/conf/flight_plans/nav_modules.xml +++ b/conf/flight_plans/nav_modules.xml @@ -74,16 +74,16 @@ - - + + - - + + - - + + @@ -96,19 +96,19 @@ - - + + - - + + - + - - + + diff --git a/conf/modules/nav_bungee_takeoff.xml b/conf/modules/nav_bungee_takeoff.xml index d24fda9167..5605184ba2 100644 --- a/conf/modules/nav_bungee_takeoff.xml +++ b/conf/modules/nav_bungee_takeoff.xml @@ -3,8 +3,19 @@ - Takeoff procedure using a bungee + Takeoff functions for bungee takeoff. + Run initialize function when the plane is on the bungee, the bungee is fully extended and you are ready to + launch the plane. After initialized, the plane will follow a line drawn by the position of the plane on initialization and the + position of the bungee (given in the arguments). Once the plane crosses the throttle line, which is perpendicular to the line the plane is following, + and intersects the position of the bungee (plus or minus a fixed distance (TakeOff_Distance in airframe file) from the bungee just in case the bungee doesn't release directly above the bungee) the prop will come on. The plane will then continue to follow the line until it has reached a specific + height (defined in as Takeoff_Height in airframe file) above the bungee waypoint and speed (defined as Takeoff_Speed in the airframe file). +
+ + + + +
diff --git a/conf/modules/nav_border_line.xml b/conf/modules/nav_line_border.xml similarity index 69% rename from conf/modules/nav_border_line.xml rename to conf/modules/nav_line_border.xml index 378fbbf76b..e069c929a7 100644 --- a/conf/modules/nav_border_line.xml +++ b/conf/modules/nav_line_border.xml @@ -1,6 +1,6 @@ - + navigate along a border line (line 1-2) with turns in the same direction @@ -10,16 +10,16 @@ take care youre navigation radius is not to small in strong wind conditions! In the flight plan:
- +
- + diff --git a/conf/modules/nav_disc_survey.xml b/conf/modules/nav_survey_disc.xml similarity index 59% rename from conf/modules/nav_disc_survey.xml rename to conf/modules/nav_survey_disc.xml index 9964d80ea7..a9cf954289 100644 --- a/conf/modules/nav_disc_survey.xml +++ b/conf/modules/nav_survey_disc.xml @@ -1,15 +1,15 @@ - + Disc Survey.
- +
- + diff --git a/conf/modules/zamboni_survey.xml b/conf/modules/nav_survey_zamboni.xml similarity index 61% rename from conf/modules/zamboni_survey.xml rename to conf/modules/nav_survey_zamboni.xml index 75acfcadb1..8f295cb351 100644 --- a/conf/modules/zamboni_survey.xml +++ b/conf/modules/nav_survey_zamboni.xml @@ -1,16 +1,15 @@ - + Zamboni pattern survey for fixedwings.
- +
- + - diff --git a/sw/airborne/modules/nav/nav_bungee_takeoff.c b/sw/airborne/modules/nav/nav_bungee_takeoff.c index 4337917afc..33488fa8a2 100644 --- a/sw/airborne/modules/nav/nav_bungee_takeoff.c +++ b/sw/airborne/modules/nav/nav_bungee_takeoff.c @@ -76,7 +76,7 @@ static float BungeeAlt; static float TDistance; static uint8_t BungeeWaypoint; -bool_t bungee_takeoff_start(uint8_t BungeeWP) +bool_t nav_bungee_takeoff_start(uint8_t BungeeWP) { float ThrottleB; @@ -130,7 +130,7 @@ bool_t bungee_takeoff_start(uint8_t BungeeWP) return FALSE; } -bool_t bungee_takeoff_run(void) +bool_t nav_bungee_takeoff_run(void) { //Translate current position so Throttle point is (0,0) float Currentx = stateGetPositionEnu_f()->x-throttlePx; diff --git a/sw/airborne/modules/nav/nav_bungee_takeoff.h b/sw/airborne/modules/nav/nav_bungee_takeoff.h index 0afafe31c2..4e7f614877 100644 --- a/sw/airborne/modules/nav/nav_bungee_takeoff.h +++ b/sw/airborne/modules/nav/nav_bungee_takeoff.h @@ -31,7 +31,8 @@ #include "std.h" -extern bool_t bungee_takeoff_start(uint8_t BungeeWP); -extern bool_t bungee_takeoff_run(void); +extern bool_t nav_bungee_takeoff_start(uint8_t BungeeWP); +extern bool_t nav_bungee_takeoff_run(void); #endif + diff --git a/sw/airborne/modules/nav/nav_flower.c b/sw/airborne/modules/nav/nav_flower.c index 5bb2553e06..e4273b4e46 100644 --- a/sw/airborne/modules/nav/nav_flower.c +++ b/sw/airborne/modules/nav/nav_flower.c @@ -57,7 +57,7 @@ static float Flowerradius; static uint8_t Center; static uint8_t Edge; -bool_t flower_start(uint8_t CenterWP, uint8_t EdgeWP) +bool_t nav_flower_start(uint8_t CenterWP, uint8_t EdgeWP) { Center = CenterWP; Edge = EdgeWP; @@ -87,7 +87,7 @@ bool_t flower_start(uint8_t CenterWP, uint8_t EdgeWP) return FALSE; } -bool_t flower_run(void) +bool_t nav_flower_run(void) { TransCurrentX = stateGetPositionEnu_f()->x - WaypointX(Center); TransCurrentY = stateGetPositionEnu_f()->y - WaypointY(Center); diff --git a/sw/airborne/modules/nav/nav_flower.h b/sw/airborne/modules/nav/nav_flower.h index fe503c07f0..61cc6f5209 100644 --- a/sw/airborne/modules/nav/nav_flower.h +++ b/sw/airborne/modules/nav/nav_flower.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t flower_run(void); -extern bool_t flower_start(uint8_t CenterWP, uint8_t EdgeWP); +extern bool_t nav_flower_run(void); +extern bool_t nav_flower_start(uint8_t CenterWP, uint8_t EdgeWP); #endif diff --git a/sw/airborne/modules/nav/nav_border_line.c b/sw/airborne/modules/nav/nav_line_border.c similarity index 86% rename from sw/airborne/modules/nav/nav_border_line.c rename to sw/airborne/modules/nav/nav_line_border.c index fe5e5a4766..0364b6f354 100644 --- a/sw/airborne/modules/nav/nav_border_line.c +++ b/sw/airborne/modules/nav/nav_line_border.c @@ -21,7 +21,7 @@ */ /** - * @file modules/nav/nav_border_line.c + * @file modules/nav/nav_line_border.c * @brief navigate along a border line (line 1-2) with turns in the same direction * * you can use this function to navigate along a border if it is essetial not to cross it @@ -29,20 +29,20 @@ * take care youre navigation radius is not to small in strong wind conditions! */ -#include "modules/nav/nav_border_line.h" +#include "modules/nav/nav_line_border.h" #include "generated/airframe.h" #include "subsystems/nav.h" -enum border_line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; -static enum border_line_status border_line_status; +enum line_border_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; +static enum line_border_status line_border_status; -bool_t border_line_start( void ) { - border_line_status = LR12; +bool_t nav_line_border_start( void ) { + line_border_status = LR12; return FALSE; } -bool_t border_line_run(uint8_t l1, uint8_t l2, float radius) { +bool_t nav_line_border_run(uint8_t l1, uint8_t l2, float radius) { radius = fabs(radius); float alt = waypoints[l1].a; waypoints[l2].a = alt; @@ -80,25 +80,25 @@ bool_t border_line_run(uint8_t l1, uint8_t l2, float radius) { NavVerticalAutoThrottleMode(0); NavVerticalAltitudeMode(WaypointAlt(l1), 0.); - switch (border_line_status) { + switch (line_border_status) { case LR12: NavSegment(l2, l1); if (NavApproachingFrom(l1, l2, CARROT)) { - border_line_status = LQC21; + line_border_status = LQC21; nav_init_stage(); } break; case LQC21: nav_circle_XY(l2_c1.x, l2_c1.y, -radius); if (NavQdrCloseTo(DegOfRad(qdr_out_2_2)-10)) { - border_line_status = LTC2; + line_border_status = LTC2; nav_init_stage(); } break; case LTC2: nav_circle_XY(l2_c2.x, l2_c2.y, radius); if (NavQdrCloseTo(DegOfRad(qdr_out_2_3)-10)) { - border_line_status = LR21; + line_border_status = LR21; nav_init_stage(); } break; @@ -106,7 +106,7 @@ bool_t border_line_run(uint8_t l1, uint8_t l2, float radius) { case LR21: NavSegment(l1, l2); if (NavApproachingFrom(l2, l1, CARROT)) { - border_line_status = LTC1; + line_border_status = LTC1; nav_init_stage(); } break; @@ -114,14 +114,14 @@ bool_t border_line_run(uint8_t l1, uint8_t l2, float radius) { case LTC1: nav_circle_XY(l1_c2.x, l1_c2.y, radius); if (NavQdrCloseTo(DegOfRad(qdr_out_2_1) + 10)) { - border_line_status = LQC11; + line_border_status = LQC11; nav_init_stage(); } break; case LQC11: nav_circle_XY(l1_c3.x, l1_c3.y, -radius); if (NavQdrCloseTo(DegOfRad(qdr_out_2_3 + M_PI + 10))) { - border_line_status = LR12; + line_border_status = LR12; nav_init_stage(); } break; diff --git a/sw/airborne/modules/nav/nav_border_line.h b/sw/airborne/modules/nav/nav_line_border.h similarity index 78% rename from sw/airborne/modules/nav/nav_border_line.h rename to sw/airborne/modules/nav/nav_line_border.h index 4a90f2fa75..51f434b0eb 100644 --- a/sw/airborne/modules/nav/nav_border_line.h +++ b/sw/airborne/modules/nav/nav_line_border.h @@ -20,16 +20,16 @@ */ /** - * @file modules/nav/nav_border_line.h + * @file modules/nav/nav_line_border.h * @brief navigate along a border line (line 1-2) with turns in the same direction */ -#ifndef BORDER_LINE_H -#define BORDER_LINE_H +#ifndef NAV_LINE_BORDER_H +#define NAV_LINE_BORDER_H #include "std.h" -extern bool_t border_line_start( void ); -extern bool_t border_line_run(uint8_t wp1, uint8_t wp2, float radius); +extern bool_t nav_line_border_start( void ); +extern bool_t nav_line_border_run(uint8_t wp1, uint8_t wp2, float radius); -#endif /* BORDER_LINE_H */ +#endif /* NAV_LINE_BORDER_H */ diff --git a/sw/airborne/modules/nav/nav_line_osam.c b/sw/airborne/modules/nav/nav_line_osam.c index 61364f8dc6..9b0f82c2c5 100644 --- a/sw/airborne/modules/nav/nav_line_osam.c +++ b/sw/airborne/modules/nav/nav_line_osam.c @@ -61,7 +61,7 @@ static void TranslateAndRotateFromWorld(struct Point2D *p, float Zrot, float tra } -bool_t osam_flight_line_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After) +bool_t nav_line_osam_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After) { struct Point2D V; struct Point2D P; @@ -168,11 +168,11 @@ bool_t osam_flight_line_run(uint8_t From_WP, uint8_t To_WP, float radius, float static uint8_t FLBlockCount = 0; -bool_t osam_flight_line_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After) +bool_t nav_line_osam_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After) { if(First_WP < Last_WP) { - osam_flight_line_run(First_WP+FLBlockCount, First_WP+FLBlockCount+1, radius, Space_Before, Space_After); + nav_line_osam_run(First_WP+FLBlockCount, First_WP+FLBlockCount+1, radius, Space_Before, Space_After); if(CFLStatus == FLInitialize) { @@ -186,7 +186,7 @@ bool_t osam_flight_line_block_run(uint8_t First_WP, uint8_t Last_WP, float radiu } else { - osam_flight_line_run(First_WP-FLBlockCount, First_WP-FLBlockCount-1, radius, Space_Before, Space_After); + nav_line_osam_run(First_WP-FLBlockCount, First_WP-FLBlockCount-1, radius, Space_Before, Space_After); if(CFLStatus == FLInitialize) { diff --git a/sw/airborne/modules/nav/nav_line_osam.h b/sw/airborne/modules/nav/nav_line_osam.h index 725c8fa4fa..3a6fa04826 100644 --- a/sw/airborne/modules/nav/nav_line_osam.h +++ b/sw/airborne/modules/nav/nav_line_osam.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t osam_flight_line_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After); -extern bool_t osam_flight_line_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After); +extern bool_t nav_line_osam_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After); +extern bool_t nav_line_osam_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After); #endif diff --git a/sw/airborne/modules/nav/nav_disc_survey.c b/sw/airborne/modules/nav/nav_survey_disc.c similarity index 94% rename from sw/airborne/modules/nav/nav_disc_survey.c rename to sw/airborne/modules/nav/nav_survey_disc.c index 5291e54412..b2995b7b2a 100644 --- a/sw/airborne/modules/nav/nav_disc_survey.c +++ b/sw/airborne/modules/nav/nav_survey_disc.c @@ -20,11 +20,11 @@ */ /** - * @file modules/nav/nav_disc_survey.c + * @file modules/nav/nav_survey_disc.c * */ -#include "modules/nav/nav_disc_survey.h" +#include "modules/nav/nav_survey_disc.h" #include "generated/airframe.h" #include "state.h" @@ -46,7 +46,7 @@ struct DiscSurvey { static struct DiscSurvey disc_survey; -bool_t nav_disc_survey_start( float grid ) { +bool_t nav_survey_disc_start( float grid ) { nav_survey_shift = grid; disc_survey.status = DOWNWIND; disc_survey.sign = 1; @@ -55,7 +55,7 @@ bool_t nav_disc_survey_start( float grid ) { return FALSE; } -bool_t nav_disc_survey_run( uint8_t center_wp, float radius) { +bool_t nav_survey_disc_run( uint8_t center_wp, float radius) { struct FloatVect2* wind = stateGetHorizontalWindspeed_f(); float wind_dir = atan2(wind->x, wind->y) + M_PI; diff --git a/sw/airborne/modules/nav/nav_disc_survey.h b/sw/airborne/modules/nav/nav_survey_disc.h similarity index 78% rename from sw/airborne/modules/nav/nav_disc_survey.h rename to sw/airborne/modules/nav/nav_survey_disc.h index 7101399e86..0684977d7a 100644 --- a/sw/airborne/modules/nav/nav_disc_survey.h +++ b/sw/airborne/modules/nav/nav_survey_disc.h @@ -20,16 +20,16 @@ */ /** - * @file modules/nav/nav_disc_survey.h + * @file modules/nav/nav_survey_disc.h * */ -#ifndef NAV_DISC_SURVEY_H -#define NAV_DISC_SURVEY_H +#ifndef NAV_SURVEY_DISC_H +#define NAV_SURVEY_DISC_H #include "std.h" -extern bool_t nav_disc_survey_start( float grid ); -extern bool_t nav_disc_survey_run(uint8_t c, float radius); +extern bool_t nav_survey_disc_start( float grid ); +extern bool_t nav_survey_disc_run(uint8_t c, float radius); -#endif /* NAV_DISC_SURVEY_H */ +#endif /* NAV_SURVEY_DISC_H */ diff --git a/sw/airborne/modules/nav/nav_poly_survey_osam.c b/sw/airborne/modules/nav/nav_survey_poly_osam.c similarity index 98% rename from sw/airborne/modules/nav/nav_poly_survey_osam.c rename to sw/airborne/modules/nav/nav_survey_poly_osam.c index c988c50423..d3dcb49d70 100644 --- a/sw/airborne/modules/nav/nav_poly_survey_osam.c +++ b/sw/airborne/modules/nav/nav_survey_poly_osam.c @@ -20,11 +20,11 @@ */ /** - * @file modules/nav/nav_poly_survey_osam.c + * @file modules/nav/nav_survey_poly_osam.c * */ -#include "modules/nav/nav_poly_survey_osam.h" +#include "modules/nav/nav_survey_poly_osam.h" #include "subsystems/nav.h" #include "state.h" @@ -77,7 +77,7 @@ static float MaxY; uint16_t PolySurveySweepNum; uint16_t PolySurveySweepBackNum; -bool_t osam_poly_survey_start(uint8_t EntryWP, uint8_t Size, float sw, float Orientation) +bool_t nav_survey_poly_osam_start(uint8_t EntryWP, uint8_t Size, float sw, float Orientation) { SmallestCorner.x = 0; SmallestCorner.y = 0; @@ -273,7 +273,7 @@ bool_t osam_poly_survey_start(uint8_t EntryWP, uint8_t Size, float sw, float Ori return FALSE; } -bool_t osam_poly_survey_run(void) +bool_t nav_survey_poly_osam_run(void) { struct Point2D C; struct Point2D ToP; diff --git a/sw/airborne/modules/nav/nav_poly_survey_osam.h b/sw/airborne/modules/nav/nav_survey_poly_osam.h similarity index 78% rename from sw/airborne/modules/nav/nav_poly_survey_osam.h rename to sw/airborne/modules/nav/nav_survey_poly_osam.h index eb48ebff27..9752ec40dc 100644 --- a/sw/airborne/modules/nav/nav_poly_survey_osam.h +++ b/sw/airborne/modules/nav/nav_survey_poly_osam.h @@ -20,17 +20,17 @@ */ /** - * @file modules/nav/nav_poly_survey_osam.h + * @file modules/nav/nav_survey_poly_osam.h * */ -#ifndef NAV_POLY_SURVEY_OSAM_H -#define NAV_POLY_SURVEY_OSAM_H +#ifndef NAV_SURVEY_POLY_OSAM_H +#define NAV_SURVEY_POLY_OSAM_H #include "std.h" -extern bool_t osam_poly_survey_start(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation); -extern bool_t osam_poly_survey_run(void); +extern bool_t nav_survey_poly_osam_start(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation); +extern bool_t nav_survey_poly_osam_run(void); extern uint16_t PolySurveySweepNum; extern uint16_t PolySurveySweepBackNum; diff --git a/sw/airborne/modules/nav/zamboni_survey.c b/sw/airborne/modules/nav/nav_survey_zamboni.c similarity index 96% rename from sw/airborne/modules/nav/zamboni_survey.c rename to sw/airborne/modules/nav/nav_survey_zamboni.c index d87c5f64ed..dd8d917379 100644 --- a/sw/airborne/modules/nav/zamboni_survey.c +++ b/sw/airborne/modules/nav/nav_survey_zamboni.c @@ -20,12 +20,12 @@ */ /** - * @file modules/nav/zamboni_survey.c + * @file modules/nav/nav_survey_zamboni.c * * Zamboni pattern survey for fixedwings. */ -#include "modules/nav/zamboni_survey.h" +#include "modules/nav/nav_survey_zamboni.h" #include "subsystems/nav.h" #include "autopilot.h" @@ -48,7 +48,7 @@ struct ZamboniSurvey zs; * @param sweep_lines number of sweep_lines to fly * @param altitude the altitude that must be reached before the flyover starts */ -bool_t zamboni_survey_start(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude) +bool_t nav_survey_zamboni_start(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude) { zs.current_laps = 0; zs.pre_leave_angle = 2; @@ -121,7 +121,7 @@ bool_t zamboni_survey_start(uint8_t center_wp, uint8_t dir_wp, float sweep_lengt * * @returns TRUE until the survey is finished */ -bool_t zamboni_survey_run(void) +bool_t nav_survey_zamboni_run(void) { // retain altitude NavVerticalAutoThrottleMode(0.0); diff --git a/sw/airborne/modules/nav/zamboni_survey.h b/sw/airborne/modules/nav/nav_survey_zamboni.h similarity index 88% rename from sw/airborne/modules/nav/zamboni_survey.h rename to sw/airborne/modules/nav/nav_survey_zamboni.h index 7a98cee7ae..ae25561b49 100644 --- a/sw/airborne/modules/nav/zamboni_survey.h +++ b/sw/airborne/modules/nav/nav_survey_zamboni.h @@ -20,13 +20,13 @@ */ /** - * @file modules/nav/zamboni_survey.h + * @file modules/nav/nav_survey_zamboni.h * * Zamboni pattern survey for fixedwings. */ -#ifndef ZAMBONI_SURVEY_H -#define ZAMBONI_SURVEY_H +#ifndef NAV_SURVEY_ZAMBONI_H +#define NAV_SURVEY_ZAMBONI_H #include "std.h" #include "math/pprz_algebra_float.h" @@ -70,7 +70,7 @@ struct ZamboniSurvey { }; -extern bool_t zamboni_survey_start(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude); -extern bool_t zamboni_survey_run(void); +extern bool_t nav_survey_zamboni_start(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude); +extern bool_t nav_survey_zamboni_run(void); #endif //ZAMBONI_SURVEY_H diff --git a/sw/airborne/modules/nav/nav_vertical_raster.c b/sw/airborne/modules/nav/nav_vertical_raster.c index b5ee563405..c04705c5ed 100644 --- a/sw/airborne/modules/nav/nav_vertical_raster.c +++ b/sw/airborne/modules/nav/nav_vertical_raster.c @@ -40,12 +40,12 @@ enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; static enum line_status line_status; -bool_t vertical_raster_start( void ) { +bool_t nav_vertical_raster_start( void ) { line_status = LR12; return FALSE; } -bool_t vertical_raster_run(uint8_t l1, uint8_t l2, float radius, float AltSweep) { +bool_t nav_vertical_raster_run(uint8_t l1, uint8_t l2, float radius, float AltSweep) { radius = fabs(radius); float alt = waypoints[l1].a; waypoints[l2].a = alt; diff --git a/sw/airborne/modules/nav/nav_vertical_raster.h b/sw/airborne/modules/nav/nav_vertical_raster.h index eaa25736f3..82e7ed01ff 100644 --- a/sw/airborne/modules/nav/nav_vertical_raster.h +++ b/sw/airborne/modules/nav/nav_vertical_raster.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t vertical_raster_start( void ); -extern bool_t vertical_raster_run(uint8_t wp1, uint8_t wp2, float radius, float AltSweep); +extern bool_t nav_vertical_raster_start( void ); +extern bool_t nav_vertical_raster_run(uint8_t wp1, uint8_t wp2, float radius, float AltSweep); #endif