mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
[dox][navigation] cleanup indentation, add headers and doxygen file blocks
This commit is contained in:
Felix Ruess
@@ -19,6 +19,13 @@
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file firmwares/rotorcraft/navigation.c
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*
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* Rotorcraft navigation functions.
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*/
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#define NAV_C
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#include "firmwares/rotorcraft/navigation.h"
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@@ -19,6 +19,12 @@
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file firmwares/rotorcraft/navigation.h
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*
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* Rotorcraft navigation functions.
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*/
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#ifndef NAVIGATION_H
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#define NAVIGATION_H
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@@ -17,10 +17,11 @@
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* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
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*
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*/
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/** \file subsystems/nav.c
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* \brief Regroup functions to compute navigation
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/**
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* @file subsystems/nav.c
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* Fixedwing functions to compute navigation.
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*
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*/
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@@ -135,8 +136,9 @@ void nav_circle_XY(float x, float y, float radius) {
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float alpha_carrot = nav_circle_trigo_qdr - sign_radius * carrot_angle;
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horizontal_mode = HORIZONTAL_MODE_CIRCLE;
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float radius_carrot = abs_radius;
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if (nav_mode == NAV_MODE_COURSE)
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if (nav_mode == NAV_MODE_COURSE) {
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radius_carrot += (abs_radius / cos(carrot_angle) - abs_radius);
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}
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fly_to_xy(x+cos(alpha_carrot)*radius_carrot,
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y+sin(alpha_carrot)*radius_carrot);
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nav_in_circle = TRUE;
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@@ -17,14 +17,15 @@
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* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/** \file nav.h
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* \brief Navigation library
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/**
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* @file subsystems/nav.h
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*
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* Fixedwing Navigation library.
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*
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* This collection of macros and functions is used by the C code generated
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* from the XML flight plan
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* from the XML flight plan.
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*/
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#ifndef NAV_H
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@@ -17,6 +17,10 @@
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* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
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||||
*/
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/**
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* @file subsystems/navigation/bomb.c
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*
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*/
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@@ -1,3 +1,29 @@
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/*
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* Copyright (C) 2007-2009 ENAC, Pascal Brisset, Antoine Drouin
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*
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* This file is part of paparazzi.
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||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
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|
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/**
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* @file subsystems/navigation/bomb.h
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*
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*/
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#ifndef BOMB_H
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#define BOMB_H
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@@ -23,4 +49,4 @@ extern unit_t compute_baseleg( void );
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extern float baseleg_alt, downwind_altitude;
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extern const float baseleg_alt_tolerance;
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#endif
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#endif // BOMB_H
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@@ -1,5 +1,6 @@
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/*
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* Copyright (C) 2012 Tobias Muench
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* modified nav_linie by Anton Kochevar, ENAC
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*
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* This file is part of paparazzi.
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*
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||||
@@ -17,12 +18,8 @@
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||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
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||||
* Boston, MA 02111-1307, USA.
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*
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*/
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//modified nav_linie by Anton Kochevar, ENAC
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/**
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* @file subsystems/navigation/border_line.c
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* @brief navigate along a border line (line 1-2) with turns in the same direction
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|
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@@ -17,7 +17,6 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
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||||
*/
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||||
|
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/**
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||||
@@ -33,6 +32,4 @@
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extern bool_t border_line_init( void );
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extern bool_t border_line(uint8_t wp1, uint8_t wp2, float radius);
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#endif
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/* BORDER_LINE_H */
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#endif /* BORDER_LINE_H */
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@@ -17,7 +17,11 @@
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||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
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||||
*/
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/**
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* @file subsystems/navigation/common_flight_plan.c
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* Common flight_plan functions shared between fixedwing and rotorcraft.
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*/
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#include "subsystems/navigation/common_flight_plan.h"
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@@ -34,7 +38,6 @@ uint8_t nav_stage, nav_block;
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uint8_t last_block, last_stage;
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void nav_init_block(void) {
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if (nav_block >= NB_BLOCK)
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nav_block=NB_BLOCK-1;
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|
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@@ -17,7 +17,11 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
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||||
|
||||
/**
|
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* @file subsystems/navigation/common_flight_plan.c
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* Common flight_plan functions shared between fixedwing and rotorcraft.
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*/
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#ifndef COMMON_FLIGHT_PLAN_H
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@@ -17,6 +17,10 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
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* @file subsystems/navigation/common_nav.c
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*
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||||
*/
|
||||
|
||||
|
||||
@@ -17,6 +17,10 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
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* @file subsystems/navigation/common_nav.h
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*
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||||
*/
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||||
|
||||
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@@ -1,3 +1,29 @@
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/*
|
||||
* Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
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* @file subsystems/navigation/discsurvey.c
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*
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*/
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#include "subsystems/navigation/discsurvey.h"
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#include "generated/airframe.h"
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@@ -1,9 +1,35 @@
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#ifndef SURVEY_H
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#define SURVEY_H
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||||
/*
|
||||
* Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
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* @file subsystems/navigation/discsurvey.h
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*
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||||
*/
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#ifndef DISCSURVEY_H
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#define DISCSURVEY_H
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#include "std.h"
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extern bool_t disc_survey_init( float grid );
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extern bool_t disc_survey(uint8_t c, float radius);
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#endif /* SURVEY_H */
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#endif /* DISCSURVEY_H */
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||||
|
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@@ -17,18 +17,12 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/** \file flightzone.c
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||||
* \brief check whether a point is inside the polygon limiting the
|
||||
* competition area
|
||||
*
|
||||
* filename: flightzone.c
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||||
* project: MAV 2007
|
||||
* description: check whether a point is inside the polygon limiting
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||||
* the competition area
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||||
/**
|
||||
* @file subsystems/navigation/flightzone.c
|
||||
*
|
||||
* Check whether a point is inside the polygon limiting the competition area.
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*
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* todo: - support concave/convex polygons
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* - sort points automatically
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||||
@@ -83,8 +77,7 @@ void vInitIsInsideBoundaries(void)
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||||
#if 0
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printf("%d: corner (%f, %f), orthogonal (%f, %f)\n",
|
||||
i,
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||||
Corner[i].x, Corner[i].y,
|
||||
i, Corner[i].x, Corner[i].y,
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||||
Orthogonal[i].x, Orthogonal[i].y);
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#endif
|
||||
}
|
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@@ -107,13 +100,9 @@ int iIsInsideBoundaries(COORD_TYPE x, COORD_TYPE y)
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i = 0;
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|
||||
while ( (i < bNumberOfCorners)
|
||||
&& (r == 1)
|
||||
)
|
||||
while ((i < bNumberOfCorners) && (r == 1))
|
||||
{
|
||||
if ( ( (x - Corner[i].x) * Orthogonal[i].x
|
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+ (y - Corner[i].y) * Orthogonal[i].y
|
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) < 0. )
|
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if (((x - Corner[i].x) * Orthogonal[i].x + (y - Corner[i].y) * Orthogonal[i].y) < 0.)
|
||||
{
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r = 0;
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}
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@@ -123,5 +112,3 @@ int iIsInsideBoundaries(COORD_TYPE x, COORD_TYPE y)
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return r;
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||||
}
|
||||
|
||||
|
||||
|
||||
@@ -17,19 +17,12 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/** \file flightzone.h
|
||||
* \brief check whether a point is inside the polygon limiting the
|
||||
* competition area
|
||||
*
|
||||
* filename: flightzone.h
|
||||
* project: MAV 2007
|
||||
* description: check whether a point is inside the polygon limiting
|
||||
* the competition area
|
||||
*
|
||||
/**
|
||||
* @file subsystems/navigation/flightzone.c
|
||||
*
|
||||
* Check whether a point is inside the polygon limiting the competition area.
|
||||
*
|
||||
* author: Arnold Schroeter
|
||||
* history:
|
||||
@@ -37,7 +30,12 @@
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef FLIGHTZONE_H
|
||||
#define FLIGHTZONE_H
|
||||
|
||||
#define COORD_TYPE float
|
||||
|
||||
void vInitIsInsideBoundaries(void);
|
||||
int iIsInsideBoundaries(COORD_TYPE x, COORD_TYPE y);
|
||||
|
||||
#endif /* FLIGHTZONE_H */
|
||||
|
||||
@@ -18,7 +18,6 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
@@ -124,16 +123,13 @@ bool_t gls_init(uint8_t _af, uint8_t _tod, uint8_t _td) {
|
||||
|
||||
bool_t gls(uint8_t _af, uint8_t _tod, uint8_t _td) {
|
||||
|
||||
|
||||
if (init){
|
||||
|
||||
#if USE_AIRSPEED
|
||||
v_ctl_auto_airspeed_setpoint = target_speed; // set target speed for approach
|
||||
#endif
|
||||
init = FALSE;
|
||||
}
|
||||
|
||||
|
||||
float final_x = WaypointX(_td) - WaypointX(_tod);
|
||||
float final_y = WaypointY(_td) - WaypointY(_tod);
|
||||
float final2 = Max(final_x * final_x + final_y * final_y, 1.);
|
||||
@@ -151,27 +147,16 @@ bool_t gls(uint8_t _af, uint8_t _tod, uint8_t _td) {
|
||||
Bound(alt, WaypointAlt(_td), start_alt +(pre_climb/(-v_ctl_altitude_pgain))) // to prevent climbing before intercept
|
||||
|
||||
|
||||
|
||||
|
||||
if(nav_final_progress < -0.5) { // for smooth intercept
|
||||
|
||||
NavVerticalAltitudeMode(WaypointAlt(_tod), 0); // vertical mode (fly straigt and intercept glideslope)
|
||||
|
||||
NavVerticalAutoThrottleMode(0); // throttle mode
|
||||
|
||||
NavSegment(_af, _td); // horizontal mode (stay on localiser)
|
||||
}
|
||||
|
||||
else {
|
||||
|
||||
NavVerticalAltitudeMode(alt, pre_climb); // vertical mode (folow glideslope)
|
||||
|
||||
NavVerticalAutoThrottleMode(0); // throttle mode
|
||||
|
||||
NavSegment(_af, _td); // horizontal mode (stay on localiser)
|
||||
}
|
||||
|
||||
|
||||
return TRUE;
|
||||
|
||||
} // end of gls()
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
/*
|
||||
*
|
||||
* Copyright (C) 2012, Tobias Muench
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
@@ -18,7 +17,6 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
@@ -32,9 +30,7 @@
|
||||
#include "std.h"
|
||||
#include "paparazzi.h"
|
||||
|
||||
|
||||
|
||||
extern bool_t gls_init(uint8_t _af, uint8_t _tod, uint8_t _td);
|
||||
extern bool_t gls(uint8_t _af, uint8_t _tod, uint8_t _td);
|
||||
|
||||
#endif
|
||||
#endif // NAV_GLS_H
|
||||
|
||||
@@ -17,11 +17,12 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/** \file nav_cube.c
|
||||
* \brief Navigation in a cube towards a center
|
||||
/**
|
||||
* @file subsystems/navigation/nav_cube.c
|
||||
*
|
||||
* Fixedwing Navigation in a cube towards a center.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -17,6 +17,12 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/nav_cube.h
|
||||
*
|
||||
* Fixedwing Navigation in a cube towards a center.
|
||||
*
|
||||
*/
|
||||
|
||||
@@ -33,22 +39,22 @@ bool_t nav_cube(int8_t j, int8_t i,
|
||||
uint8_t dest_b, uint8_t dest_e,
|
||||
uint8_t src_b, uint8_t src_e);
|
||||
|
||||
extern int32_t cube_alpha; /* angle of flight direction to north, clockwise */
|
||||
extern int32_t cube_size_x; /* size of the cube x (perpendicular to flight dir) */
|
||||
extern int32_t cube_size_y; /* size of the cube y (in flight dir) */
|
||||
extern int32_t cube_size_z; /* height of the cube z */
|
||||
extern int32_t cube_grid_x; /* grid distance x (horizontal) */
|
||||
extern int32_t cube_grid_z; /* grid distance z (vertical) */
|
||||
extern int32_t cube_offs_x; /* offset to center x (horizontal) */
|
||||
extern int32_t cube_offs_y; /* offset to center y (in direction) */
|
||||
extern int32_t cube_offs_z; /* offset to center z (vertical) */
|
||||
extern int32_t cube_alpha; ///< angle of flight direction to north, clockwise
|
||||
extern int32_t cube_size_x; ///< size of the cube x (perpendicular to flight dir)
|
||||
extern int32_t cube_size_y; ///< size of the cube y (in flight dir)
|
||||
extern int32_t cube_size_z; ///< height of the cube z
|
||||
extern int32_t cube_grid_x; ///< grid distance x (horizontal)
|
||||
extern int32_t cube_grid_z; ///< grid distance z (vertical)
|
||||
extern int32_t cube_offs_x; ///< offset to center x (horizontal)
|
||||
extern int32_t cube_offs_y; ///< offset to center y (in direction)
|
||||
extern int32_t cube_offs_z; ///< offset to center z (vertical)
|
||||
|
||||
extern int32_t cube_sect; /* sector to fly in (1..[nsect_x*nsect_z]) */
|
||||
extern int32_t cube_nsect_x; /* number of sectors horizontal */
|
||||
extern int32_t cube_nsect_z; /* number of sectors vertical */
|
||||
extern int32_t cube_sect; ///< sector to fly in (1..[nsect_x*nsect_z])
|
||||
extern int32_t cube_nsect_x; ///< number of sectors horizontal
|
||||
extern int32_t cube_nsect_z; ///< number of sectors vertical
|
||||
|
||||
extern int32_t cube_nline_x; /* number of lines x (horizontal) */
|
||||
extern int32_t cube_nline_z; /* number of lines z (vertical) */
|
||||
extern int32_t cube_nline_x; ///< number of lines x (horizontal)
|
||||
extern int32_t cube_nline_z; ///< number of lines z (vertical)
|
||||
|
||||
#define nav_cube_SetAlpha(i) { cube_alpha=i; }
|
||||
#define nav_cube_SetSect(i) { cube_sect=i; }
|
||||
|
||||
@@ -17,12 +17,12 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/** \file nav_line.c
|
||||
* \brief Navigation along a line with nice U-turns
|
||||
/**
|
||||
* @file subsystems/navigation/nav_line.c
|
||||
*
|
||||
* Fixedwing navigation along a line with nice U-turns.
|
||||
*/
|
||||
|
||||
#include "generated/airframe.h"
|
||||
|
||||
@@ -17,7 +17,12 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/nav_line.h
|
||||
*
|
||||
* Fixedwing navigation along a line with nice U-turns.
|
||||
*/
|
||||
|
||||
#ifndef NAV_LINE_H
|
||||
|
||||
@@ -1,3 +1,32 @@
|
||||
/*
|
||||
* Copyright (C) 2007-2009 ENAC, Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/nav_survey_rectangle.c
|
||||
*
|
||||
* Automatic survey of a rectangle for fixedwings.
|
||||
*
|
||||
* Rectangle is defined by two points, sweep can be south-north or west-east.
|
||||
*/
|
||||
|
||||
#include "subsystems/navigation/nav_survey_rectangle.h"
|
||||
#include "state.h"
|
||||
|
||||
|
||||
@@ -1,4 +1,31 @@
|
||||
/** Automatic survey of a rectangle (defined by two points) (south-north or west-east sweep) */
|
||||
/*
|
||||
* Copyright (C) 2007-2009 ENAC, Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/nav_survey_rectangle.c
|
||||
*
|
||||
* Automatic survey of a rectangle for fixedwings.
|
||||
*
|
||||
* Rectangle is defined by two points, sweep can be south-north or west-east.
|
||||
*/
|
||||
|
||||
#ifndef NAV_SURVEY_RECTANGLE_H
|
||||
#define NAV_SURVEY_RECTANGLE_H
|
||||
@@ -14,4 +41,4 @@ extern void nav_survey_rectangle(uint8_t wp1, uint8_t wp2);
|
||||
#define NavSurveyRectangle(_wp1, _wp2) nav_survey_rectangle(_wp1, _wp2)
|
||||
|
||||
|
||||
#endif
|
||||
#endif // NAV_SURVEY_RECTANGLE_H
|
||||
|
||||
@@ -1,3 +1,31 @@
|
||||
/*
|
||||
* Copyright (C) 2011 The Paparazzi Team
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/poly_survey_adv.c
|
||||
*
|
||||
* Advanced polygon survey for fixedwings from Uni Stuttgart.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "poly_survey_adv.h"
|
||||
|
||||
#include "subsystems/nav.h"
|
||||
@@ -10,9 +38,9 @@
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
/*
|
||||
The following variables are set by poly_survey_init and not changed later on
|
||||
**/
|
||||
*/
|
||||
|
||||
// precomputed vectors to ease calculations
|
||||
point2d dir_vec;
|
||||
@@ -33,9 +61,9 @@ float psa_altitude;
|
||||
int segment_angle;
|
||||
int return_angle;
|
||||
|
||||
/**
|
||||
/*
|
||||
The Following variables are dynamic, changed while navigating.
|
||||
**/
|
||||
*/
|
||||
|
||||
/*
|
||||
psa_stage starts at ENTRY and than circles trought the other
|
||||
@@ -76,13 +104,13 @@ static void nav_points(point2d start, point2d end)
|
||||
}
|
||||
|
||||
/**
|
||||
intercept two lines and give back the point of intersection
|
||||
returns : FALSE if no intersection can be found or intersection does not lie between points a and b
|
||||
else TRUE
|
||||
p : returns intersection
|
||||
x, y : first line is defined by point x and y (goes through this points)
|
||||
a1, a2, b1, b2 : second line by coordinates a1/a2, b1/b2
|
||||
**/
|
||||
* intercept two lines and give back the point of intersection
|
||||
* @return FALSE if no intersection can be found or intersection does not lie between points a and b
|
||||
* else TRUE
|
||||
* @param p returns intersection
|
||||
* @param x, y first line is defined by point x and y (goes through this points)
|
||||
* @param a1, a2, b1, b2 second line by coordinates a1/a2, b1/b2
|
||||
*/
|
||||
static bool_t intercept_two_lines(point2d *p, point2d x, point2d y, float a1, float a2, float b1, float b2)
|
||||
{
|
||||
float divider, fac;
|
||||
@@ -100,11 +128,11 @@ static bool_t intercept_two_lines(point2d *p, point2d x, point2d y, float a1, fl
|
||||
}
|
||||
|
||||
/**
|
||||
intersects a line with the polygon and gives back the two intersection points
|
||||
returns : TRUE if two intersection can be found, else FALSE
|
||||
x, y : intersection points
|
||||
a, b : define the line to intersection
|
||||
**/
|
||||
* intersects a line with the polygon and gives back the two intersection points
|
||||
* @return TRUE if two intersection can be found, else FALSE
|
||||
* @param x, y intersection points
|
||||
* @param a, b define the line to intersection
|
||||
*/
|
||||
static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
|
||||
{
|
||||
int i, count = 0;
|
||||
@@ -151,14 +179,14 @@ static bool_t get_two_intersects(point2d *x, point2d *y, point2d a, point2d b)
|
||||
}
|
||||
|
||||
/**
|
||||
initializes the variables needed for the survey to start
|
||||
first_wp : the first Waypoint of the polygon
|
||||
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
|
||||
* initializes the variables needed for the survey to start
|
||||
* @param first_wp the first Waypoint of the polygon
|
||||
* @param size the number of points that make up the polygon
|
||||
* @param angle angle in which to do the flyovers
|
||||
* @param sweep_width distance between the sweeps
|
||||
* @param shot_dist distance between the shots
|
||||
* @param min_rad minimal radius when navigating
|
||||
* @param altitude the altitude that must be reached before the flyover starts
|
||||
**/
|
||||
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)
|
||||
{
|
||||
@@ -265,10 +293,10 @@ bool_t init_poly_survey_adv(uint8_t first_wp, uint8_t size, float angle, float s
|
||||
}
|
||||
|
||||
/**
|
||||
main navigation routine. This is called periodically evaluates the current
|
||||
Position and stage and navigates accordingly.
|
||||
Returns True until the survey is finished
|
||||
**/
|
||||
* main navigation routine. This is called periodically evaluates the current
|
||||
* Position and stage and navigates accordingly.
|
||||
* Returns True until the survey is finished
|
||||
*/
|
||||
bool_t poly_survey_adv(void)
|
||||
{
|
||||
NavVerticalAutoThrottleMode(0.0);
|
||||
|
||||
@@ -1,3 +1,31 @@
|
||||
/*
|
||||
* Copyright (C) 2011 The Paparazzi Team
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/poly_survey_adv.h
|
||||
*
|
||||
* Advanced polygon survey for fixedwings from Uni Stuttgart.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef POLY_ADV_H
|
||||
#define POLY_ADV_H
|
||||
|
||||
|
||||
@@ -1,5 +1,30 @@
|
||||
/* Smooth navigation to wp_a along an arc (around wp_cd), a
|
||||
segment (from wp_rd to wp_ta) and a second arc (around wp_ca) */
|
||||
/*
|
||||
* Copyright (C) 2007-2009 ENAC, Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/snav.c
|
||||
*
|
||||
* Smooth navigation to wp_a along an arc (around wp_cd),
|
||||
* a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
|
||||
*/
|
||||
|
||||
#include <math.h>
|
||||
#include "generated/airframe.h"
|
||||
|
||||
@@ -1,3 +1,31 @@
|
||||
/*
|
||||
* Copyright (C) 2007-2009 ENAC, Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/snav.h
|
||||
*
|
||||
* Smooth navigation to wp_a along an arc (around wp_cd),
|
||||
* a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
|
||||
*/
|
||||
|
||||
#ifndef SNAV_H
|
||||
#define SNAV_H
|
||||
|
||||
|
||||
@@ -1,9 +1,33 @@
|
||||
/************** Spiral Navigation **********************************************/
|
||||
/*
|
||||
* Copyright (C) 2011 The Paparazzi Team
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/** creating a helix:
|
||||
start radius to end radius, increasing after reaching alphamax
|
||||
Alphamax is calculated from given segments
|
||||
IMPORTANT: numer of segments has to be larger than 2!
|
||||
/**
|
||||
* @file subsystems/navigation/spiral.c
|
||||
*
|
||||
* Fixedwing navigation in a spiral/helix from Uni Stuttgart.
|
||||
*
|
||||
* creating a helix:
|
||||
* - start radius to end radius, increasing after reaching alphamax
|
||||
* - Alphamax is calculated from given segments
|
||||
* - IMPORTANT: numer of segments has to be larger than 2!
|
||||
*/
|
||||
|
||||
#include "subsystems/navigation/spiral.h"
|
||||
|
||||
@@ -1,3 +1,31 @@
|
||||
/*
|
||||
* Copyright (C) 2011 The Paparazzi Team
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/spiral.h
|
||||
*
|
||||
* Fixedwing navigation in a spiral/helix from Uni Stuttgart.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef SPIRAL_H
|
||||
#define SPIRAL_H
|
||||
|
||||
@@ -7,5 +35,5 @@ extern bool_t SpiralNav(void);
|
||||
extern bool_t InitializeSpiral(uint8_t CenterWP, uint8_t EdgeWP, float StartRad, float IncRad,
|
||||
float Segments, float ZKoord );
|
||||
|
||||
#endif
|
||||
#endif // SPIRAL_H
|
||||
|
||||
|
||||
@@ -17,10 +17,12 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
/** \file traffic_info.c
|
||||
* \brief Informations relative to the other aircrafts
|
||||
|
||||
/**
|
||||
* @file subsystems/naviation/traffic_info.c
|
||||
*
|
||||
* Information relative to the other aircrafts.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -17,10 +17,12 @@
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
/** \file traffic_info.h
|
||||
* \brief Informations relative to the other aircrafts
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/traffic_info.h
|
||||
*
|
||||
* Information relative to the other aircrafts.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
Reference in New Issue
Block a user