diff --git a/conf/airframes/examples/Twinstar_energyadaptive.xml b/conf/airframes/examples/Twinstar_energyadaptive.xml index 4eb5f11bae..8af69b2a5b 100644 --- a/conf/airframes/examples/Twinstar_energyadaptive.xml +++ b/conf/airframes/examples/Twinstar_energyadaptive.xml @@ -60,7 +60,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed - + diff --git a/conf/airframes/examples/microjet.xml b/conf/airframes/examples/microjet.xml index 06ba1a31bf..9d566f91f1 100644 --- a/conf/airframes/examples/microjet.xml +++ b/conf/airframes/examples/microjet.xml @@ -194,7 +194,7 @@ - + diff --git a/conf/airframes/examples/microjet_lisa_m.xml b/conf/airframes/examples/microjet_lisa_m.xml index ea6ff954dc..8263373a4e 100644 --- a/conf/airframes/examples/microjet_lisa_m.xml +++ b/conf/airframes/examples/microjet_lisa_m.xml @@ -47,7 +47,7 @@ - + diff --git a/conf/flight_plans/nav_modules.xml b/conf/flight_plans/nav_modules.xml index 9f7443d325..4b85cae985 100644 --- a/conf/flight_plans/nav_modules.xml +++ b/conf/flight_plans/nav_modules.xml @@ -82,8 +82,8 @@ - - + + diff --git a/conf/modules/nav_bomb.xml b/conf/modules/nav_drop.xml similarity index 80% rename from conf/modules/nav_bomb.xml rename to conf/modules/nav_drop.xml index c180ad9da8..81f385135c 100644 --- a/conf/modules/nav_bomb.xml +++ b/conf/modules/nav_drop.xml @@ -1,6 +1,6 @@ - + Compute the dropping point for a fixedwing aircraft. @@ -9,9 +9,9 @@
- +
- + diff --git a/conf/modules/nav_survey_poly_adv.xml b/conf/modules/nav_survey_poly_adv.xml deleted file mode 100644 index aa3fcb1873..0000000000 --- a/conf/modules/nav_survey_poly_adv.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - 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: - - - -
- -
- - - - diff --git a/conf/modules/nav_survey_polygon.xml b/conf/modules/nav_survey_polygon.xml new file mode 100644 index 0000000000..1b7b0c8a1d --- /dev/null +++ b/conf/modules/nav_survey_polygon.xml @@ -0,0 +1,35 @@ + + + + + +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() + + + +
+ +
+ + + + diff --git a/sw/airborne/modules/nav/nav_gls.c b/sw/airborne/modules/nav/nav_gls.c index 890e0f694e..0d8245c1f1 100644 --- a/sw/airborne/modules/nav/nav_gls.c +++ b/sw/airborne/modules/nav/nav_gls.c @@ -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 diff --git a/sw/airborne/modules/nav/nav_line_osam.c b/sw/airborne/modules/nav/nav_line_osam.c index 9b0f82c2c5..55ba756e9e 100644 --- a/sw/airborne/modules/nav/nav_line_osam.c +++ b/sw/airborne/modules/nav/nav_line_osam.c @@ -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" diff --git a/sw/airborne/modules/nav/nav_survey_poly_adv.c b/sw/airborne/modules/nav/nav_survey_polygon.c similarity index 97% rename from sw/airborne/modules/nav/nav_survey_poly_adv.c rename to sw/airborne/modules/nav/nav_survey_polygon.c index 6965c44843..3597010842 100644 --- a/sw/airborne/modules/nav/nav_survey_poly_adv.c +++ b/sw/airborne/modules/nav/nav_survey_polygon.c @@ -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); diff --git a/sw/airborne/modules/nav/nav_survey_poly_adv.h b/sw/airborne/modules/nav/nav_survey_polygon.h similarity index 85% rename from sw/airborne/modules/nav/nav_survey_poly_adv.h rename to sw/airborne/modules/nav/nav_survey_polygon.h index 488c0f633a..daa6aaeb88 100644 --- a/sw/airborne/modules/nav/nav_survey_poly_adv.h +++ b/sw/airborne/modules/nav/nav_survey_polygon.h @@ -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