mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-21 20:04:09 +08:00
added advanced poly_survey navigation function from Uni Stuttgart, thanks. camera routines outcommented
This commit is contained in:
Felix Ruess
@@ -13,4 +13,5 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/discsurvey.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/spiral.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/poly_survey_adv.c
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@@ -0,0 +1,332 @@
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#include "poly_survey_adv.h"
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#include "subsystems/nav.h"
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#include "estimator.h"
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#include "autopilot.h"
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#include "generated/flight_plan.h"
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//#include "modules/digital_cam/dc.h"
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/**
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The following variables are set by poly_survey_init and not changed later on
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**/
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// precomputed vectors to ease calculations
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point2d dir_vec;
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point2d sweep_vec;
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point2d rad_vec;
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//the polygon from the flightplan
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uint8_t poly_first;
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uint8_t poly_count;
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//desired properties of the flyover
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float psa_min_rad;
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float psa_sweep_width;
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float psa_shot_dist;
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float psa_altitude;
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//direction for the flyover (0° == N)
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int segment_angle;
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int return_angle;
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/**
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The Following variables are dynamic, changed while navigating.
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**/
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/*
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psa_stage starts at ENTRY and than circles trought the other
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states until to polygon is completely covered
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ENTRY : getting in the right position and height for the first flyover
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SEG : fly from seg_start to seg_end and take pictures,
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then calculate navigation points of next flyover
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TURN1 : do a 180° turn around seg_center1
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RET : fly from ret_start to ret_end
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TURN2 : do a 180° turn around seg_center2
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*/
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survey_stage psa_stage;
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// points for navigation
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point2d seg_start;
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point2d seg_end;
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point2d seg_center1;
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point2d seg_center2;
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point2d entry_center;
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point2d ret_start;
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point2d ret_end;
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//helper functions and macro
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#define VEC_CALC(A, B, C, OP) A.x = B.x OP C.x; A.y = B.y OP C.y;
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static point2d vec_add(point2d a, point2d b)
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{
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point2d tmp;
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VEC_CALC(tmp, a, b, +);
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return tmp;
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}
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static void nav_points(point2d start, point2d end)
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{
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nav_route_xy(start.x, start.y, end.x, end.y);
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}
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/**
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intercept two lines and give back the point of intersection
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returns : FALSE if no intersection can be found or intersection does not lie between points a and b
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else TRUE
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p : returns intersection
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x, y : first line is defined by point x and y (goes through this points)
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a1, a2, b1, b2 : second line by coordinates a1/a2, b1/b2
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**/
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static bool_t intercept_two_lines(point2d *p, point2d x, point2d y, float a1, float a2, float b1, float b2)
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{
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float div, fac;
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div = (((b2 - a2)*(y.x - x.x)) + ((x.y - y.y)*(b1 - a1)));
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if (div == 0) return FALSE;
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fac = ((y.x*(x.y - a2)) + (x.x*(a2 - y.y)) + (a1*(y.y - x.y))) / div;
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if (fac > 1.0) return FALSE;
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if (fac < 0.0) return FALSE;
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p->x = a1 + fac*(b1 - a1);
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p->y = a2 + fac*(b2 - a2);
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return TRUE;
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}
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/**
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intersects a line with the polygon and gives back the two intersection points
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returns : TRUE if two intersection can be found, else FALSE
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x, y : intersection points
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a, b : define the line to intersection
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**/
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static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
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{
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int i, count = 0;
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point2d tmp;
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for (i=0;i<poly_count-1;i++)
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if(intercept_two_lines(&tmp,a,b,waypoints[poly_first+i].x,waypoints[poly_first+i].y,waypoints[poly_first+i+1].x,waypoints[poly_first+i+1].y)) {
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if (count == 0) {
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*x = tmp;
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count++;
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}
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else {
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*y = tmp;
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count++;
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break;
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}
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}
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//wrapover first,last polygon waypoint
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if (count == 1 && intercept_two_lines(&tmp,a,b,waypoints[poly_first+poly_count-1].x,waypoints[poly_first+poly_count-1].y,waypoints[poly_first].x,waypoints[poly_first].y)) {
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*y = tmp;
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count++;
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}
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if (count != 2)
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return FALSE;
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//change points
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if (fabs(dir_vec.x) > fabs(dir_vec.y)) {
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if ((y->x - x->x) / dir_vec.x < 0.0){
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tmp = *x;
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*x = *y;
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*y = tmp;
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}
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}
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else
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if ((y->y - x->y) / dir_vec.y < 0.0) {
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tmp = *x;
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*x = *y;
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*y = tmp;
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}
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return TRUE;
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}
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/**
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initializes the variables needed for the survey to start
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first_wp : the first Waypoint of the polygon
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size : the number of points that make up the polygon
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angle : angle in which to do the flyovers
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sweep_width : distance between the sweeps
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shot_dist : distance between the shots
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min_rad : minimal radius when navigating
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altitude : the altitude that must be reached before the flyover starts
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**/
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bool_t init_poly_survey_adv(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude)
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{
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int i;
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point2d small, sweep;
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float div, len, angle_rad = angle/180.0*M_PI;
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if (angle < 0.0) angle += 360.0;
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if (angle >= 360.0) angle -= 360.0;
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poly_first = first_wp;
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poly_count = size;
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psa_sweep_width = sweep_width;
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psa_min_rad = min_rad;
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psa_shot_dist = shot_dist;
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psa_altitude = altitude;
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segment_angle = angle;
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return_angle = angle+180;
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if (return_angle > 359) return_angle -= 360;
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if (angle <= 45.0 || angle >= 315.0) {
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//north
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dir_vec.y = 1.0;
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dir_vec.x = 1.0*tanf(angle_rad);
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sweep.x = 1.0;
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sweep.y = - dir_vec.x / dir_vec.y;
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}
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else if (angle <= 135.0) {
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//east
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dir_vec.x = 1.0;
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dir_vec.y = 1.0/tanf(angle_rad);
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sweep.y = - 1.0;
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sweep.x = dir_vec.y / dir_vec.x;
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}
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else if (angle <= 225.0) {
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//south
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dir_vec.y = -1.0;
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dir_vec.x = -1.0*tanf(angle_rad);
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sweep.x = -1.0;
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sweep.y = dir_vec.x / dir_vec.y;
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}
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else {
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//west
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dir_vec.x = -1.0;
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dir_vec.y = -1.0/tanf(angle_rad);
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sweep.y = 1.0;
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sweep.x = - dir_vec.y / dir_vec.x;
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}
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//normalize
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len = sqrt(sweep.x*sweep.x+sweep.y*sweep.y);
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sweep.x = sweep.x / len;
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sweep.y = sweep.y / len;
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rad_vec.x = sweep.x * psa_min_rad;
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rad_vec.y = sweep.y * psa_min_rad;
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sweep_vec.x = sweep.x * psa_sweep_width;
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sweep_vec.y = sweep.y * psa_sweep_width;
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//begin at leftmost position (relative to dir_vec)
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small.x = waypoints[poly_first].x;
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small.y = waypoints[poly_first].y;
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div = (sweep_vec.y*dir_vec.x) - (sweep_vec.x*dir_vec.y);
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//cacluate the leftmost point if one sees the dir vec as going "up" and the sweep vec as going right
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if (div < 0.0) {
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for(i=1;i<poly_count;i++)
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if ((dir_vec.x*(waypoints[poly_first+i].y - small.y)) + (dir_vec.y*(small.x - waypoints[poly_first+i].x)) > 0.0) {
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small.x = waypoints[poly_first+i].x;
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small.y = waypoints[poly_first+i].y;
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}
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}
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else
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for(i=1;i<poly_count;i++)
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if ((dir_vec.x*(waypoints[poly_first+i].y - small.y)) + (dir_vec.y*(small.x - waypoints[poly_first+i].x)) > 0.0) {
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small.x = waypoints[poly_first+i].x;
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small.y = waypoints[poly_first+i].y;
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}
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//calculate the line the defines the first flyover
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seg_start.x = small.x + 0.5*sweep_vec.x;
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seg_start.y = small.y + 0.5*sweep_vec.y;
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VEC_CALC(seg_end, seg_start, dir_vec, +);
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if (!get_two_intersects(&seg_start, &seg_end, seg_start, seg_end)) {
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psa_stage = ERR;
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return FALSE;
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}
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//center of the entry circle
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entry_center.x = seg_start.x - rad_vec.x;
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entry_center.y = seg_start.y - rad_vec.y;
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//fast climbing to desired altitude
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NavVerticalAutoThrottleMode(100.0);
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NavVerticalAltitudeMode(psa_altitude, 0.0);
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psa_stage = ENTRY;
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return FALSE;
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}
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/**
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main navigation routine. This is called periodically evaluates the current
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Position and stage and navigates accordingly.
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Returns True until the survey is finished
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**/
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bool_t poly_survey_adv(void)
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{
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//entry circle around entry-center until the desired altitude is reached
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if (psa_stage == ENTRY) {
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nav_circle_XY(entry_center.x, entry_center.y, -psa_min_rad);
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if (NavCourseCloseTo(segment_angle)
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&& nav_approaching_xy(seg_start.x, seg_start.y, last_x, last_y, CARROT)
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&& fabs(estimator_z - psa_altitude) <= 20) {
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psa_stage = SEG;
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NavVerticalAutoThrottleMode(0.0);
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nav_init_stage();
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//dc_distance(psa_shot_dist, seg_start.x - dir_vec.x*psa_shot_dist*0.5, seg_start.y - dir_vec.y*psa_shot_dist*0.5);
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}
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}
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//fly the segment until seg_end is reached
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if (psa_stage == SEG) {
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nav_points(seg_start, seg_end);
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//calculate all needed points for the next flyover
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if (nav_approaching_xy(seg_end.x, seg_end.y, seg_start.x, seg_start.y, 0)) {
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//dc_stop();
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VEC_CALC(seg_center1, seg_end, rad_vec, -);
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ret_start.x = seg_end.x - 2*rad_vec.x;
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ret_start.y = seg_end.y - 2*rad_vec.y;
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//if we get no intersection the survey is finished
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if (!get_two_intersects(&seg_start, &seg_end, vec_add(seg_start, sweep_vec), vec_add(seg_end, sweep_vec)))
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return FALSE;
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ret_end.x = seg_start.x - sweep_vec.x - 2*rad_vec.x;
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ret_end.y = seg_start.y - sweep_vec.y - 2*rad_vec.y;
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seg_center2.x = seg_start.x - 0.5*(2.0*rad_vec.x+sweep_vec.x);
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seg_center2.y = seg_start.y - 0.5*(2.0*rad_vec.y+sweep_vec.y);
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psa_stage = TURN1;
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nav_init_stage();
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}
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}
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//turn from stage to return
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else if (psa_stage == TURN1) {
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nav_circle_XY(seg_center1.x, seg_center1.y, -psa_min_rad);
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if (NavCourseCloseTo(return_angle)) {
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psa_stage = RET;
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nav_init_stage();
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}
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//return
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} else if (psa_stage == RET) {
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nav_points(ret_start, ret_end);
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if (nav_approaching_xy(ret_end.x, ret_end.y, ret_start.x, ret_start.y, 0)) {
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psa_stage = TURN2;
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nav_init_stage();
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}
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//turn from return to stage
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} else if (psa_stage == TURN2) {
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nav_circle_XY(seg_center2.x, seg_center2.y, -(2*psa_min_rad+psa_sweep_width)*0.5);
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if (NavCourseCloseTo(segment_angle)) {
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psa_stage = SEG;
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nav_init_stage();
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//dc_distance(psa_shot_dist, seg_start.x - dir_vec.x*psa_shot_dist*0.5, seg_start.y - dir_vec.y*psa_shot_dist*0.5);
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}
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}
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return TRUE;
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}
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@@ -0,0 +1,13 @@
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#ifndef POLY_ADV_H
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#define POLY_ADV_H
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#include "std.h"
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typedef struct {float x; float y;} point2d;
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typedef enum {ERR, ENTRY, SEG, TURN1, RET, TURN2} survey_stage;
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extern bool_t init_poly_survey_adv(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude);
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extern bool_t poly_survey_adv(void);
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#endif
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