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[fixedwing][modules] clean advanced poly survey module
This commit is contained in:
Loic Drumettaz
committed by
Felix Ruess
Felix Ruess
parent
e04af9bbfb
commit
396e7403a8
@@ -74,8 +74,8 @@
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</block>
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<!--===================== Nav modules example blocks =================================-->
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<block name="Poly Survey S1-S2" strip_button="Poly Survey">
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<call fun="init_poly_survey_adv(WP_S1,5,0,30,10,50,100)"/>
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<call fun="poly_survey_adv()"/>
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<call fun="poly_survey_adv_start(WP_S1,5,180,30,10,50,100)"/>
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<call fun="poly_survey_adv_run()"/>
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</block>
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<block name="Border line 1-2" strip_button="Border Line (wp 1-2)">
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<call fun="border_line_init()"/>
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@@ -116,10 +116,6 @@
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<call fun="vertical_raster_start()"/>
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<call fun="vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
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</block>
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<block name="Vertical Raster">
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<call fun="vertical_raster_start()"/>
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<call fun="vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
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</block>
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<!--====================================================================================-->
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<block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
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@@ -1,5 +1,5 @@
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/*
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* Copyright (C) 2011 The Paparazzi Team
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* Copyright (C) 2011-2013 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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@@ -37,68 +37,9 @@
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#include "modules/digital_cam/dc.h"
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#endif
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struct SurveyPolyAdv survey;
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/*
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The following variables are set by poly_survey_init and not changed later on
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*/
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// precomputed vectors to ease calculations
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point2d dir_vec;
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point2d sweep_vec;
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point2d rad_vec;
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//the polygon from the flightplan
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uint8_t poly_first;
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uint8_t poly_count;
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//desired properties of the flyover
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float psa_min_rad;
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float psa_sweep_width;
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float psa_shot_dist;
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float psa_altitude;
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//direction for the flyover (0° == N)
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int segment_angle;
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int return_angle;
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/*
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The Following variables are dynamic, changed while navigating.
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*/
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/*
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psa_stage starts at ENTRY and than circles trought the other
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states until to polygon is completely covered
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ENTRY : getting in the right position and height for the first flyover
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SEG : fly from seg_start to seg_end and take pictures,
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then calculate navigation points of next flyover
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TURN1 : do a 180° turn around seg_center1
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RET : fly from ret_start to ret_end
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TURN2 : do a 180° turn around seg_center2
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*/
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survey_stage psa_stage;
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// points for navigation
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point2d seg_start;
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point2d seg_end;
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point2d seg_center1;
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point2d seg_center2;
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point2d entry_center;
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point2d ret_start;
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point2d ret_end;
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//helper functions and macro
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#define VEC_CALC(A, B, C, OP) A.x = B.x OP C.x; A.y = B.y OP C.y;
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static point2d vec_add(point2d a, point2d b)
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{
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point2d tmp;
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VEC_CALC(tmp, a, b, +);
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return tmp;
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}
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static void nav_points(point2d start, point2d end)
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static void nav_points(struct FloatVect2 start, struct FloatVect2 end)
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{
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nav_route_xy(start.x, start.y, end.x, end.y);
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}
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@@ -111,7 +52,7 @@ static void nav_points(point2d start, point2d end)
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* @param x, y first line is defined by point x and y (goes through this points)
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* @param a1, a2, b1, b2 second line by coordinates a1/a2, b1/b2
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*/
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static bool_t intercept_two_lines(point2d *p, point2d x, point2d y, float a1, float a2, float b1, float b2)
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static bool_t intercept_two_lines(struct FloatVect2 *p, struct FloatVect2 x, struct FloatVect2 y, float a1, float a2, float b1, float b2)
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{
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float divider, fac;
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@@ -133,13 +74,13 @@ static bool_t intercept_two_lines(point2d *p, point2d x, point2d y, float a1, fl
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* @param x, y intersection points
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* @param a, b define the line to intersection
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*/
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static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
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static bool_t get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, struct FloatVect2 a, struct FloatVect2 b)
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{
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int i, count = 0;
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point2d tmp;
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struct FloatVect2 tmp;
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for (i=0;i<poly_count-1;i++)
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if(intercept_two_lines(&tmp,a,b,waypoints[poly_first+i].x,waypoints[poly_first+i].y,waypoints[poly_first+i+1].x,waypoints[poly_first+i+1].y)) {
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for (i=0;i<survey.poly_count-1;i++)
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if(intercept_two_lines(&tmp,a,b,waypoints[survey.poly_first+i].x,waypoints[survey.poly_first+i].y,waypoints[survey.poly_first+i+1].x,waypoints[survey.poly_first+i+1].y)) {
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if (count == 0) {
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*x = tmp;
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count++;
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@@ -152,7 +93,7 @@ static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
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}
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//wrapover first,last polygon waypoint
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if (count == 1 && intercept_two_lines(&tmp,a,b,waypoints[poly_first+poly_count-1].x,waypoints[poly_first+poly_count-1].y,waypoints[poly_first].x,waypoints[poly_first].y)) {
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if (count == 1 && intercept_two_lines(&tmp,a,b,waypoints[survey.poly_first+survey.poly_count-1].x,waypoints[survey.poly_first+survey.poly_count-1].y,waypoints[survey.poly_first].x,waypoints[survey.poly_first].y)) {
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*y = tmp;
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count++;
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}
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@@ -161,15 +102,15 @@ static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
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return FALSE;
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//change points
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if (fabs(dir_vec.x) > fabs(dir_vec.y)) {
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if ((y->x - x->x) / dir_vec.x < 0.0){
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if (fabs(survey.dir_vec.x) > fabs(survey.dir_vec.y)) {
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if ((y->x - x->x) / survey.dir_vec.x < 0.0){
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tmp = *x;
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*x = *y;
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*y = tmp;
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}
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}
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else
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if ((y->y - x->y) / dir_vec.y < 0.0) {
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if ((y->y - x->y) / survey.dir_vec.y < 0.0) {
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tmp = *x;
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*x = *y;
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*y = tmp;
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@@ -188,106 +129,98 @@ static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
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* @param min_rad minimal radius when navigating
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* @param altitude the altitude that must be reached before the flyover starts
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**/
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bool_t init_poly_survey_adv(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude)
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bool_t poly_survey_adv_start(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude)
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{
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int i;
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point2d small, sweep;
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float divider, len, angle_rad = angle/180.0*M_PI;
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struct FloatVect2 small, sweep;
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float divider, angle_rad = angle/180.0*M_PI;
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if (angle < 0.0) angle += 360.0;
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if (angle >= 360.0) angle -= 360.0;
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poly_first = first_wp;
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poly_count = size;
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survey.poly_first = first_wp;
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survey.poly_count = size;
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psa_sweep_width = sweep_width;
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psa_min_rad = min_rad;
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psa_shot_dist = shot_dist;
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psa_altitude = altitude;
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survey.psa_sweep_width = sweep_width;
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survey.psa_min_rad = min_rad;
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survey.psa_shot_dist = shot_dist;
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survey.psa_altitude = altitude;
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segment_angle = angle;
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return_angle = angle+180;
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if (return_angle > 359) return_angle -= 360;
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survey.segment_angle = angle;
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survey.return_angle = angle+180;
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if (survey.return_angle > 359) survey.return_angle -= 360;
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if (angle <= 45.0 || angle >= 315.0) {
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//north
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dir_vec.y = 1.0;
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dir_vec.x = 1.0*tanf(angle_rad);
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survey.dir_vec.y = 1.0;
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survey.dir_vec.x = 1.0*tanf(angle_rad);
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sweep.x = 1.0;
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sweep.y = - dir_vec.x / dir_vec.y;
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sweep.y = - survey.dir_vec.x / survey.dir_vec.y;
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}
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else if (angle <= 135.0) {
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//east
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dir_vec.x = 1.0;
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dir_vec.y = 1.0/tanf(angle_rad);
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survey.dir_vec.x = 1.0;
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survey.dir_vec.y = 1.0/tanf(angle_rad);
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sweep.y = - 1.0;
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sweep.x = dir_vec.y / dir_vec.x;
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sweep.x = survey.dir_vec.y / survey.dir_vec.x;
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}
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else if (angle <= 225.0) {
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//south
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dir_vec.y = -1.0;
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dir_vec.x = -1.0*tanf(angle_rad);
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survey.dir_vec.y = -1.0;
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survey.dir_vec.x = -1.0*tanf(angle_rad);
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sweep.x = -1.0;
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sweep.y = dir_vec.x / dir_vec.y;
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sweep.y = survey.dir_vec.x / survey.dir_vec.y;
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}
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else {
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//west
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dir_vec.x = -1.0;
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dir_vec.y = -1.0/tanf(angle_rad);
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survey.dir_vec.x = -1.0;
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survey.dir_vec.y = -1.0/tanf(angle_rad);
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sweep.y = 1.0;
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sweep.x = - dir_vec.y / dir_vec.x;
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sweep.x = - survey.dir_vec.y / survey.dir_vec.x;
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}
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//normalize
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len = sqrt(sweep.x*sweep.x+sweep.y*sweep.y);
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sweep.x = sweep.x / len;
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sweep.y = sweep.y / len;
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FLOAT_VECT2_NORMALIZE(sweep);
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rad_vec.x = sweep.x * psa_min_rad;
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rad_vec.y = sweep.y * psa_min_rad;
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sweep_vec.x = sweep.x * psa_sweep_width;
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sweep_vec.y = sweep.y * psa_sweep_width;
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FLOAT_VECT2_SMUL(survey.rad_vec, sweep, survey.psa_min_rad);
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FLOAT_VECT2_SMUL(survey.sweep_vec, sweep, survey.psa_sweep_width);
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//begin at leftmost position (relative to dir_vec)
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small.x = waypoints[poly_first].x;
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small.y = waypoints[poly_first].y;
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//begin at leftmost position (relative to survey.dir_vec)
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FLOAT_VECT2_COPY(small,waypoints[survey.poly_first]);
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divider = (sweep_vec.y*dir_vec.x) - (sweep_vec.x*dir_vec.y);
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divider = (survey.sweep_vec.y*survey.dir_vec.x) - (survey.sweep_vec.x*survey.dir_vec.y);
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//cacluate the leftmost point if one sees the dir vec as going "up" and the sweep vec as going right
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//calculate the leftmost point if one sees the dir vec as going "up" and the sweep vec as going right
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if (divider < 0.0) {
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for(i=1;i<poly_count;i++)
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if ((dir_vec.x*(waypoints[poly_first+i].y - small.y)) + (dir_vec.y*(small.x - waypoints[poly_first+i].x)) > 0.0) {
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small.x = waypoints[poly_first+i].x;
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small.y = waypoints[poly_first+i].y;
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for(i=1;i<survey.poly_count;i++)
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if ((survey.dir_vec.x*(waypoints[survey.poly_first+i].y - small.y)) + (survey.dir_vec.y*(small.x - waypoints[survey.poly_first+i].x)) > 0.0) {
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FLOAT_VECT2_COPY(small, waypoints[survey.poly_first+i]);
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}
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}
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else
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for(i=1;i<poly_count;i++)
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if ((dir_vec.x*(waypoints[poly_first+i].y - small.y)) + (dir_vec.y*(small.x - waypoints[poly_first+i].x)) > 0.0) {
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small.x = waypoints[poly_first+i].x;
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small.y = waypoints[poly_first+i].y;
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for(i=1;i<survey.poly_count;i++)
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if ((survey.dir_vec.x*(waypoints[survey.poly_first+i].y - small.y)) + (survey.dir_vec.y*(small.x - waypoints[survey.poly_first+i].x)) > 0.0) {
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FLOAT_VECT2_COPY(small, waypoints[survey.poly_first+i]);
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}
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//calculate the line the defines the first flyover
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seg_start.x = small.x + 0.5*sweep_vec.x;
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seg_start.y = small.y + 0.5*sweep_vec.y;
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VEC_CALC(seg_end, seg_start, dir_vec, +);
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survey.seg_start.x = small.x + 0.5*survey.sweep_vec.x;
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survey.seg_start.y = small.y + 0.5*survey.sweep_vec.y;
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FLOAT_VECT2_SUM(survey.seg_end, survey.seg_start, survey.dir_vec);
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if (!get_two_intersects(&seg_start, &seg_end, seg_start, seg_end)) {
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psa_stage = ERR;
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if (!get_two_intersects(&survey.seg_start, &survey.seg_end, survey.seg_start, survey.seg_end)) {
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survey.stage = ERR;
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return FALSE;
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}
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//center of the entry circle
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entry_center.x = seg_start.x - rad_vec.x;
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entry_center.y = seg_start.y - rad_vec.y;
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FLOAT_VECT2_DIFF(survey.entry_center, survey.seg_start, survey.rad_vec);
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//fast climbing to desired altitude
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NavVerticalAutoThrottleMode(0.0);
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NavVerticalAltitudeMode(psa_altitude, 0.0);
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NavVerticalAltitudeMode(survey.psa_altitude, 0.0);
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psa_stage = ENTRY;
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survey.stage = ENTRY;
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return FALSE;
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}
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@@ -297,72 +230,76 @@ bool_t init_poly_survey_adv(uint8_t first_wp, uint8_t size, float angle, float s
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* Position and stage and navigates accordingly.
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* Returns True until the survey is finished
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*/
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bool_t poly_survey_adv(void)
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bool_t poly_survey_adv_run(void)
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{
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NavVerticalAutoThrottleMode(0.0);
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NavVerticalAltitudeMode(psa_altitude, 0.0);
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NavVerticalAltitudeMode(survey.psa_altitude, 0.0);
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//entry circle around entry-center until the desired altitude is reached
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if (psa_stage == ENTRY) {
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nav_circle_XY(entry_center.x, entry_center.y, -psa_min_rad);
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if (NavCourseCloseTo(segment_angle)
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&& nav_approaching_xy(seg_start.x, seg_start.y, last_x, last_y, CARROT)
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&& fabs(stateGetPositionEnu_f()->z - psa_altitude) <= 20) {
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psa_stage = SEG;
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if (survey.stage == ENTRY) {
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nav_circle_XY(survey.entry_center.x, survey.entry_center.y, -survey.psa_min_rad);
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if (NavCourseCloseTo(survey.segment_angle)
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&& nav_approaching_xy(survey.seg_start.x, survey.seg_start.y, last_x, last_y, CARROT)
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&& fabs(stateGetPositionEnu_f()->z - survey.psa_altitude) <= 20) {
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survey.stage = SEG;
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nav_init_stage();
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#ifdef DIGITAL_CAM
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dc_survey(psa_shot_dist, seg_start.x - dir_vec.x*psa_shot_dist*0.5, seg_start.y - dir_vec.y*psa_shot_dist*0.5);
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dc_survey(survey.psa_shot_dist, survey.seg_start.x - survey.dir_vec.x*survey.psa_shot_dist*0.5, survey.seg_start.y - survey.dir_vec.y*survey.psa_shot_dist*0.5);
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#endif
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}
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}
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//fly the segment until seg_end is reached
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if (psa_stage == SEG) {
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nav_points(seg_start, seg_end);
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if (survey.stage == SEG) {
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nav_points(survey.seg_start, survey.seg_end);
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//calculate all needed points for the next flyover
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if (nav_approaching_xy(seg_end.x, seg_end.y, seg_start.x, seg_start.y, 0)) {
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if (nav_approaching_xy(survey.seg_end.x, survey.seg_end.y, survey.seg_start.x, survey.seg_start.y, 0)) {
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#ifdef DIGITAL_CAM
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dc_stop();
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#endif
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VEC_CALC(seg_center1, seg_end, rad_vec, -);
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ret_start.x = seg_end.x - 2*rad_vec.x;
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ret_start.y = seg_end.y - 2*rad_vec.y;
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FLOAT_VECT2_DIFF(survey.seg_center1, survey.seg_end, survey.rad_vec);
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survey.ret_start.x = survey.seg_end.x - 2*survey.rad_vec.x;
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survey.ret_start.y = survey.seg_end.y - 2*survey.rad_vec.y;
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//if we get no intersection the survey is finished
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if (!get_two_intersects(&seg_start, &seg_end, vec_add(seg_start, sweep_vec), vec_add(seg_end, sweep_vec)))
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static struct FloatVect2 sum_start_sweep;
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static struct FloatVect2 sum_end_sweep;
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VECT2_SUM(sum_start_sweep, survey.seg_start, survey.sweep_vec);
|
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VECT2_SUM(sum_end_sweep, survey.seg_end, survey.sweep_vec);
|
||||
if (!get_two_intersects(&survey.seg_start, &survey.seg_end, sum_start_sweep, sum_end_sweep))
|
||||
return FALSE;
|
||||
|
||||
ret_end.x = seg_start.x - sweep_vec.x - 2*rad_vec.x;
|
||||
ret_end.y = seg_start.y - sweep_vec.y - 2*rad_vec.y;
|
||||
survey.ret_end.x = survey.seg_start.x - survey.sweep_vec.x - 2*survey.rad_vec.x;
|
||||
survey.ret_end.y = survey.seg_start.y - survey.sweep_vec.y - 2*survey.rad_vec.y;
|
||||
|
||||
seg_center2.x = seg_start.x - 0.5*(2.0*rad_vec.x+sweep_vec.x);
|
||||
seg_center2.y = seg_start.y - 0.5*(2.0*rad_vec.y+sweep_vec.y);
|
||||
survey.seg_center2.x = survey.seg_start.x - 0.5*(2.0*survey.rad_vec.x+survey.sweep_vec.x);
|
||||
survey.seg_center2.y = survey.seg_start.y - 0.5*(2.0*survey.rad_vec.y+survey.sweep_vec.y);
|
||||
|
||||
psa_stage = TURN1;
|
||||
survey.stage = TURN1;
|
||||
nav_init_stage();
|
||||
}
|
||||
}
|
||||
//turn from stage to return
|
||||
else if (psa_stage == TURN1) {
|
||||
nav_circle_XY(seg_center1.x, seg_center1.y, -psa_min_rad);
|
||||
if (NavCourseCloseTo(return_angle)) {
|
||||
psa_stage = RET;
|
||||
else if (survey.stage == TURN1) {
|
||||
nav_circle_XY(survey.seg_center1.x, survey.seg_center1.y, -survey.psa_min_rad);
|
||||
if (NavCourseCloseTo(survey.return_angle)) {
|
||||
survey.stage = RET;
|
||||
nav_init_stage();
|
||||
}
|
||||
//return
|
||||
} else if (psa_stage == RET) {
|
||||
nav_points(ret_start, ret_end);
|
||||
if (nav_approaching_xy(ret_end.x, ret_end.y, ret_start.x, ret_start.y, 0)) {
|
||||
psa_stage = TURN2;
|
||||
} else if (survey.stage == RET) {
|
||||
nav_points(survey.ret_start, survey.ret_end);
|
||||
if (nav_approaching_xy(survey.ret_end.x, survey.ret_end.y, survey.ret_start.x, survey.ret_start.y, 0)) {
|
||||
survey.stage = TURN2;
|
||||
nav_init_stage();
|
||||
}
|
||||
//turn from return to stage
|
||||
} else if (psa_stage == TURN2) {
|
||||
nav_circle_XY(seg_center2.x, seg_center2.y, -(2*psa_min_rad+psa_sweep_width)*0.5);
|
||||
if (NavCourseCloseTo(segment_angle)) {
|
||||
psa_stage = SEG;
|
||||
} else if (survey.stage == TURN2) {
|
||||
nav_circle_XY(survey.seg_center2.x, survey.seg_center2.y, -(2*survey.psa_min_rad+survey.psa_sweep_width)*0.5);
|
||||
if (NavCourseCloseTo(survey.segment_angle)) {
|
||||
survey.stage = SEG;
|
||||
nav_init_stage();
|
||||
#ifdef DIGITAL_CAM
|
||||
dc_survey(psa_shot_dist, seg_start.x - dir_vec.x*psa_shot_dist*0.5, seg_start.y - dir_vec.y*psa_shot_dist*0.5);
|
||||
dc_survey(survey.psa_shot_dist, survey.seg_start.x - survey.dir_vec.x*survey.psa_shot_dist*0.5, survey.seg_start.y - survey.dir_vec.y*survey.psa_shot_dist*0.5);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
/*
|
||||
* Copyright (C) 2011 The Paparazzi Team
|
||||
* Copyright (C) 2011-2013 The Paparazzi Team
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
@@ -30,12 +30,59 @@
|
||||
#define POLY_ADV_H
|
||||
|
||||
#include "std.h"
|
||||
#include "math/pprz_algebra_float.h"
|
||||
|
||||
typedef struct {float x; float y;} point2d;
|
||||
/*
|
||||
SurveyStage starts at ENTRY and than circles trought the other
|
||||
states until to polygon is completely covered
|
||||
ENTRY : getting in the right position and height for the first flyover
|
||||
SEG : fly from seg_start to seg_end and take pictures,
|
||||
then calculate navigation points of next flyover
|
||||
TURN1 : do a 180° turn around seg_center1
|
||||
RET : fly from ret_start to ret_end
|
||||
TURN2 : do a 180° turn around seg_center2
|
||||
*/
|
||||
enum SurveyStage {ERR, ENTRY, SEG, TURN1, RET, TURN2};
|
||||
|
||||
typedef enum {ERR, ENTRY, SEG, TURN1, RET, TURN2} survey_stage;
|
||||
struct SurveyPolyAdv {
|
||||
/*
|
||||
The following variables are set by poly_survey_init and not changed later on
|
||||
*/
|
||||
|
||||
extern bool_t init_poly_survey_adv(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude);
|
||||
extern bool_t poly_survey_adv(void);
|
||||
// precomputed vectors to ease calculations
|
||||
struct FloatVect2 dir_vec;
|
||||
struct FloatVect2 sweep_vec;
|
||||
struct FloatVect2 rad_vec;
|
||||
|
||||
//the polygon from the flightplan
|
||||
uint8_t poly_first;
|
||||
uint8_t poly_count;
|
||||
|
||||
//desired properties of the flyover
|
||||
float psa_min_rad;
|
||||
float psa_sweep_width;
|
||||
float psa_shot_dist;
|
||||
float psa_altitude;
|
||||
|
||||
//direction for the flyover (0° == N)
|
||||
int segment_angle;
|
||||
int return_angle;
|
||||
|
||||
/*
|
||||
The Following variables are dynamic, changed while navigating.
|
||||
*/
|
||||
enum SurveyStage stage;
|
||||
// points for navigation
|
||||
struct FloatVect2 seg_start;
|
||||
struct FloatVect2 seg_end;
|
||||
struct FloatVect2 seg_center1;
|
||||
struct FloatVect2 seg_center2;
|
||||
struct FloatVect2 entry_center;
|
||||
struct FloatVect2 ret_start;
|
||||
struct FloatVect2 ret_end;
|
||||
};
|
||||
|
||||
extern bool_t poly_survey_adv_start(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude);
|
||||
extern bool_t poly_survey_adv_run(void);
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user