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Added Polygon Survey

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OSAM-UAV Team
2009-01-07 18:41:02 +00:00
parent f3c3fd01d0
commit 59797063cd
2 changed files with 493 additions and 33 deletions
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sw/airborne/OSAMNav.c
+472 -33
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sw/airborne/OSAMNav.h
+21
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@@ -5,6 +5,10 @@
#include "nav.h"
#include "estimator.h"
#include "autopilot.h"
#include "flight_plan.h"
struct Point2D {float x; float y;};
struct Line {float m;float b;float x;};
extern bool_t FlowerNav(void);
extern bool_t InitializeFlower(uint8_t CenterWP, uint8_t EdgeWP);
@@ -12,4 +16,21 @@ extern bool_t InitializeFlower(uint8_t CenterWP, uint8_t EdgeWP);
extern bool_t InitializeBungeeTakeoff(uint8_t BungeeWP);
extern bool_t BungeeTakeoff(void);
#define PolygonSize 10
#define MaxFloat 1000000000
#define MinFloat -1000000000
extern bool_t InitializePolygonSurvey(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
extern bool_t PolygonSurvey(void);
extern uint16_t PolySurveySweepNum;
extern uint16_t PolySurveySweepBackNum;
void TranslateAndRotateFromWorld(struct Point2D *p, float Zrot, float transX, float transY);
void RotateAndTranslateToWorld(struct Point2D *p, float Zrot, float transX, float transY);
void FindInterceptOfTwoLines(float *x, float *y, struct Line L1, struct Line L2);
float EvaluateLineForY(float x, struct Line L);
float EvaluateLineForX(float y, struct Line L);
float DistanceEquation(struct Point2D p1,struct Point2D p2);
#endif