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Merge pull request #3021 from paparazzi/survey_hybrid-integration

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Survey hybrid
This commit is contained in:
Gautier Hattenberger
2023-04-14 22:14:15 +02:00
committed by GitHub
parent e5af06a001 eb83c03928
commit 53987d5a71
9 changed files with 781 additions and 0 deletions
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conf/modules/digital_cam.xml
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<dep>
<conflicts>digital_cam_i2c,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
<provides>digital_cam</provides>
</dep>
<header>
conf/modules/digital_cam_i2c.xml
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@@ -16,6 +16,7 @@
</doc>
<dep>
<conflicts>digital_cam,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
<provides>digital_cam</provides>
</dep>
<header>
<file name="atmega_i2c_cam_ctrl.h"/>
conf/modules/digital_cam_servo.xml
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@@ -19,6 +19,7 @@
<dep>
<conflicts>digital_cam,digital_cam_i2c,digital_cam_uart,digital_cam_video</conflicts>
<provides>digital_cam</provides>
</dep>
<header>
conf/modules/digital_cam_shoot_rc.xml
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@@ -13,6 +13,7 @@
</doc>
<dep>
<depends>digital_cam|digital_cam_servo|digital_cam_uart|digital_cam_i2c|digital_cam_video</depends>
<provides>digital_cam</provides>
</dep>
<header>
<file name="dc_shoot_rc.h"/>
conf/modules/digital_cam_uart.xml
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@@ -55,6 +55,7 @@
</settings>
<dep>
<conflicts>digital_cam,digital_cam_servo,digital_cam_i2c</conflicts>
<provides>digital_cam</provides>
</dep>
<header>
<file name="uart_cam_ctrl.h"/>
conf/modules/digital_cam_video.xml
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<dep>
<depends>video_capture</depends>
<conflicts>digital_cam,digital_cam_servo,digital_cam_i2c,digital_cam_uart</conflicts>
<provides>digital_cam</provides>
</dep>
<header>
conf/modules/nav_survey_hybrid.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_survey_hybrid" dir="nav" task="control">
<doc>
<description>
Polygon survey for hybrid aircraft.
Based on poly_osam algorithm.
Compatible with generic rotorcraft.
Support mission mode with custom elements:
- points in local NED: SRVHL orientation sweep_distance radius height p1x p1y p2x p2y p3x p3y [p4x p4y]
- points in global LLA: SRVHG orientation sweep_distance radius height p1lat p1lon p2lat p2lon p3lat p3lon [p4lat p4lon]
- orientation is in degrees
- sweep_distance in meters
- radius can be: negative, automatically set to sweep/2; zero, not turning on circles; positive, fixed radius
- height in meters above reference point
- the polygon in mission mode can have either 3 or 4 points.
</description>
<section name="SURVEY_HYBRID" prefix="SURVEY_HYBRID_">
<define name="MAX_POLYGON_SIZE" value="20" description="max waypoints usable in polygon survey"/>
<define name="HALF_SWEEP_ENABLED" value="TRUE|FALSE" description="interleave sweep lines when sweeping back"/>
<define name="APPROACHING_TIME" value="3." description="end of segment anticipation time"/>
<define name="MAX_SWEEP" value="0" description="max number of sweep lines (0 for unlimited)"/>
<define name="MAX_SWEEP_BACK" value="0" description="max number of sweep back, e.g. changing direction (0 for unlimited)"/>
<define name="ENTRY_DISTANCE" value="10." description="distance from entry point (default: half sweep distance)"/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="Survey Hybrid">
<dl_setting min="0" max="1" step="1" var="survey_hybrid.half_sweep_enabled" type="uint8" shortname="half_sweep" values="FALSE|TRUE"/>
<dl_setting min="0" max="50" step="1" var="survey_hybrid.sweep_nb_max" type="uint16" shortname="nb_max"/>
<dl_setting min="0" max="50" step="1" var="survey_hybrid.sweep_back_nb_max" type="uint16" shortname="back_nb_max"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@navigation</depends>
<recommends>@mission,@digital_cam</recommends>
</dep>
<header>
<file name="nav_survey_hybrid.h"/>
</header>
<makefile target="ap|nps">
<file name="nav_survey_hybrid.c"/>
<test firmware="rotorcraft">
<define name="USE_MISSION"/>
</test>
</makefile>
</module>
sw/airborne/modules/nav/nav_survey_hybrid.c
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sw/airborne/modules/nav/nav_survey_hybrid.h
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/*
* Copyright (C) 2023 Gautier Hattenberger <gautier.hattenberger@enac.fr>
* Based on OSAM poly survey
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file modules/nav/nav_survey_hybrid.h
*
*/
#ifndef NAV_SURVEY_HYBRID_H
#define NAV_SURVEY_HYBRID_H
#include "std.h"
struct SurveyHybrid {
uint16_t sweep_nb_max;
uint16_t sweep_back_nb_max;
uint16_t sweep_nb;
uint16_t sweep_back_nb;
bool half_sweep_enabled;
};
extern struct SurveyHybrid survey_hybrid;
/** Init function
*/
extern void nav_survey_hybrid_init(void);
/**
* Setup polygon survey.
* @param start_wp first waypoint/corner of the polygon
* @param orientation angle of scan lines in degrees (CCW, east)
* @param size number of waypoints/corners used to define the polygon
* @param sweep distance between scan lines
* @param radius turn radius (<0: automatic, radius = sweep/2; 0: no turns, use straight lines only; >0: fixed radius)
*/
extern void nav_survey_hybrid_setup_orientation(uint8_t start_wp, float orientation, uint8_t size, float sweep, float radius);
/**
* Setup "dynamic" polygon survey with sweep orientation towards a waypoint.
* Computes the sweep orientation angle from the line first-second WP.
* @param start_wp first waypoint/corner of the polygon
* @param second_wp second waypoint towards which the sweep orientation is computed
* @param size number of waypoints/corners used to define the polygon
* @param sweep distance between scan lines, if zero uses Poly_Distance
* @param radius turn radius (<0: automatic, radius = sweep/2; 0: no turns, use straight lines only; >0: fixed radius)
*/
extern void nav_survey_hybrid_setup_towards(uint8_t start_wp, uint8_t second_wp, uint8_t size, float sweep, float radius);
/** Run polygon hybrid survey */
extern bool nav_survey_hybrid_run(void);
#endif