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[modules] dox for nav_survey_poly_osam

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Felix Ruess
2014-12-07 16:40:19 +01:00
parent dd4f4150ae
commit 6d7094711b
1 changed files with 19 additions and 1 deletions
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sw/airborne/modules/nav/nav_survey_poly_osam.h
+19 -1
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@@ -29,10 +29,28 @@
#include "std.h" #include "std.h"
/**
* Setup polygon survey.
* @param FirstWP first waypoint/corner of the polygon
* @param Size number of waypoints/corners used to define the polygon
* @param Sweep distance between scan lines
* @param Orientation angle of scan lines in degrees (CCW, east)
*/
extern bool_t nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation); extern bool_t nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
/** start a polygonsurvey and compute the orientation angle from the line FirstWP-SecondWP */
/**
* Setup polygon survey with sweep orientation towards a waypoint.
* Computes the sweep orientation angle from the line FirstWP-SecondWP.
* @param FirstWp first waypoint/corner of the polygon
* @param Size number of waypoints/corners used to define the polygon
* @param Sweep distance between scan lines
* @param SecondWp second waypoint towards which the sweep orientation is computed
*/
extern bool_t nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP); extern bool_t nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP);
/** Run polygon survey */
extern bool_t nav_survey_poly_osam_run(void); extern bool_t nav_survey_poly_osam_run(void);
extern uint16_t PolySurveySweepNum; extern uint16_t PolySurveySweepNum;
extern uint16_t PolySurveySweepBackNum; extern uint16_t PolySurveySweepBackNum;