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[modules] more nav modules cleanup

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- rename nav_survey_poly_adv to nav_survey_polygon
- nav_bomb.xml is now nav_drop
- dox fixes
This commit is contained in:
Felix Ruess
2013-11-13 15:22:14 +01:00
parent a0360915ce
commit 6b4950b91d
11 changed files with 58 additions and 54 deletions
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conf/airframes/examples/Twinstar_energyadaptive.xml
+1 -1
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@@ -60,7 +60,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw-->
</load>
<load name="nav_survey_poly_adv.xml"/>
<load name="nav_survey_polygon.xml"/>
</modules>
<!-- ################################################## -->
conf/airframes/examples/microjet.xml
+1 -1
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@@ -194,7 +194,7 @@
<modules>
<load name="openlog.xml"/>
<load name="nav_survey_poly_adv.xml"/>
<load name="nav_survey_polygon.xml"/>
<load name="nav_line_border.xml"/>
<load name="nav_line.xml"/>
<load name="nav_smooth.xml"/>
conf/airframes/examples/microjet_lisa_m.xml
+1 -1
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@@ -47,7 +47,7 @@
<load name="nav_line_osam.xml"/>
<load name="nav_flower.xml"/>
<load name="nav_smooth.xml"/>
<load name="nav_survey_poly_adv.xml"/>
<load name="nav_survey_polygon.xml"/>
<load name="nav_survey_poly_osam.xml"/>
<load name="nav_vertical_raster.xml"/>
conf/flight_plans/nav_modules.xml
+2 -2
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@@ -82,8 +82,8 @@
<call fun="nav_bungee_takeoff_run()"/>
</block>
<block name="Poly Survey S1-S2" strip_button="Poly Survey">
<call fun="nav_survey_poly_adv_start(WP_S1,5,180,30,10,50,100)"/>
<call fun="nav_survey_poly_adv_run()"/>
<call fun="nav_survey_polygon_start(WP_S1,5,180,30,10,50,100)"/>
<call fun="nav_survey_polygon_run()"/>
</block>
<block name="Border line 1-2" strip_button="Border Line (wp 1-2)">
<call fun="nav_line_border_start()"/>
conf/modules/nav_bomb.xml → conf/modules/nav_drop.xml
+3 -3
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@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_bomb" dir="nav">
<module name="nav_drop" dir="nav">
<doc>
<description>
Compute the dropping point for a fixedwing aircraft.
@@ -9,9 +9,9 @@
</description>
</doc>
<header>
<file name="bomb.h"/>
<file name="nav_drop.h"/>
</header>
<makefile>
<file name="bomb.c"/>
<file name="nav_drop.c"/>
</makefile>
</module>
conf/modules/nav_survey_poly_adv.xml
-30
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@@ -1,30 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_survey_poly_adv" dir="nav">
<doc>
<description>
Advanced polygon survey for fixedwings from Uni Stuttgart.
In the flight plan, the survey blocks call init and run functions:
1- Initialize the variables needed for the survey to start, with init_poly_survey_adv(first_wp, size,angle, sweep_width, shot_dist, min_rad, altitude):
first_wp the first Waypoint of the polygon (WP_waypoint_name)
size the number of points that make up the polygon
angle angle in which to do the flyovers
sweep_width distance between the sweeps
shot_dist distance between the shots
min_rad minimal radius when navigating
altitude the altitude that must be reached before the flyover starts
2- Run the survey with poly_survey_adv()
Block example:
<!--<block name="Poly Survey" strip_button="Poly Survey">
<call fun="init_poly_survey_adv(first_wp,size,angle,sweep_width,shot_dist,min_rad,altitude)"/>
<call fun="poly_survey_adv()"/>
</block>-->
</description>
</doc>
<header>
<file name="nav_survey_poly_adv.h"/>
</header>
<makefile>
<file name="nav_survey_poly_adv.c"/>
</makefile>
</module>
conf/modules/nav_survey_polygon.xml
+35
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@@ -0,0 +1,35 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="nav_survey_polygon" dir="nav">
<doc>
<description>
Survey a polygon with a fixedwing.
From Uni Stuttgart.
In the flight plan, the survey blocks call init and run functions:
1. Initialize the variables needed for the survey to start, with nav_survey_polygon_start(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude):
- first_wp the first Waypoint of the polygon (WP_waypoint_name)
- size the number of points that make up the polygon
- angle angle in which to do the flyovers
- sweep_width distance between the sweeps
- shot_dist distance between the shots
- min_rad minimal radius when navigating
- altitude the altitude that must be reached before the flyover starts
2. Run the survey with nav_survey_polygon_run()
<!--
Block example:
@verbatim
<block name="Poly Survey" strip_button="Poly Survey">
<call fun="nav_survey_polygon_start(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude)"/>
<call fun="nav_survey_polygon_run()"/>
</block>
@endverbatim
-->
</description>
</doc>
<header>
<file name="nav_survey_polygon.h"/>
</header>
<makefile>
<file name="nav_survey_polygon.c"/>
</makefile>
</module>
sw/airborne/modules/nav/nav_gls.c
+1 -2
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@@ -1,5 +1,4 @@
/*
*
* Copyright (C) 2012, Tobias Münch
*
* This file is part of paparazzi.
@@ -21,7 +20,7 @@
*/
/**
* @file subsystems/navigation/gls.c
* @file modules/nav/nav_gls.c
* @brief gps landing system
*
* gps landing system
sw/airborne/modules/nav/nav_line_osam.c
+2 -2
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@@ -20,11 +20,11 @@
*/
/**
* @file modules/nav/nav_osam.c
* @file modules/nav/nav_line_osam.c
*
* Flight line from OSAM advanced navigation routines
*
* TODO compare with normal flight line
* @todo compare with normal flight line
*/
#include "modules/nav/nav_line_osam.h"
sw/airborne/modules/nav/nav_survey_poly_adv.c → sw/airborne/modules/nav/nav_survey_polygon.c
+5 -5
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@@ -20,13 +20,13 @@
*/
/**
* @file modules/nav/nav_survey_poly_adv.c
* @file modules/nav/nav_survey_polygon.c
*
* Advanced polygon survey for fixedwings from Uni Stuttgart.
*
*/
#include "nav_survey_poly_adv.h"
#include "nav_survey_polygon.h"
#include "subsystems/nav.h"
#include "state.h"
@@ -129,7 +129,7 @@ static bool_t get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, str
* @param min_rad minimal radius when navigating
* @param altitude the altitude that must be reached before the flyover starts
**/
bool_t nav_survey_poly_adv_start(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude)
bool_t nav_survey_polygon_start(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude)
{
int i;
struct FloatVect2 small, sweep;
@@ -228,9 +228,9 @@ bool_t nav_survey_poly_adv_start(uint8_t first_wp, uint8_t size, float angle, fl
/**
* main navigation routine. This is called periodically evaluates the current
* Position and stage and navigates accordingly.
* Returns True until the survey is finished
* @returns True until the survey is finished
*/
bool_t nav_survey_poly_adv_run(void)
bool_t nav_survey_polygon_run(void)
{
NavVerticalAutoThrottleMode(0.0);
NavVerticalAltitudeMode(survey.psa_altitude, 0.0);
sw/airborne/modules/nav/nav_survey_poly_adv.h → sw/airborne/modules/nav/nav_survey_polygon.h
+7 -7
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@@ -20,14 +20,14 @@
*/
/**
* @file modules/nav/nav_survey_poly_adv.h
* @file modules/nav/nav_survey_polygon.h
*
* Advanced polygon survey for fixedwings from Uni Stuttgart.
*
*/
#ifndef POLY_ADV_H
#define POLY_ADV_H
#ifndef NAV_SURVEY_POLYGON_H
#define NAV_SURVEY_POLYGON_H
#include "std.h"
#include "math/pprz_algebra_float.h"
@@ -45,8 +45,8 @@
enum SurveyStage {ERR, ENTRY, SEG, TURN1, RET, TURN2};
struct SurveyPolyAdv {
/*
The following variables are set by poly_survey_init and not changed later on
/*
The following variables are set by nav_survey_polygon_start and not changed later on
*/
// precomputed vectors to ease calculations
@@ -82,7 +82,7 @@ struct SurveyPolyAdv {
struct FloatVect2 ret_end;
};
extern bool_t nav_survey_poly_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 nav_survey_poly_adv_run(void);
extern bool_t nav_survey_polygon_start(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude);
extern bool_t nav_survey_polygon_run(void);
#endif