diff --git a/conf/flight_plans/EMAV2008.xml b/conf/flight_plans/EMAV2008.xml index 8c6e0455d1..1d81947daf 100644 --- a/conf/flight_plans/EMAV2008.xml +++ b/conf/flight_plans/EMAV2008.xml @@ -67,7 +67,7 @@ - + diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml index e4ccdb1d16..6d636cb7b1 100644 --- a/conf/flight_plans/IS.xml +++ b/conf/flight_plans/IS.xml @@ -46,7 +46,7 @@ - + @@ -80,7 +80,7 @@ - + diff --git a/conf/flight_plans/basic.xml b/conf/flight_plans/basic.xml index 778f0c9bbc..12f8077973 100644 --- a/conf/flight_plans/basic.xml +++ b/conf/flight_plans/basic.xml @@ -55,7 +55,7 @@ - + diff --git a/conf/flight_plans/creidlitz.xml b/conf/flight_plans/creidlitz.xml index 797779d526..d4b34b0250 100644 --- a/conf/flight_plans/creidlitz.xml +++ b/conf/flight_plans/creidlitz.xml @@ -55,7 +55,7 @@ - + diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml index a78c4ea6d6..6cdcaa5866 100644 --- a/conf/flight_plans/grosslobke_demo.xml +++ b/conf/flight_plans/grosslobke_demo.xml @@ -32,7 +32,7 @@ - + diff --git a/conf/flight_plans/joystick.xml b/conf/flight_plans/joystick.xml index b818d9fc98..6969aeb403 100644 --- a/conf/flight_plans/joystick.xml +++ b/conf/flight_plans/joystick.xml @@ -54,7 +54,7 @@ - + diff --git a/conf/flight_plans/kv_svalbard.xml b/conf/flight_plans/kv_svalbard.xml index 3fcb82085c..2831ac9162 100644 --- a/conf/flight_plans/kv_svalbard.xml +++ b/conf/flight_plans/kv_svalbard.xml @@ -57,7 +57,7 @@ - + diff --git a/conf/flight_plans/mav06.xml b/conf/flight_plans/mav06.xml index b06785b055..746dd37c1f 100644 --- a/conf/flight_plans/mav06.xml +++ b/conf/flight_plans/mav06.xml @@ -97,7 +97,7 @@ --> - + diff --git a/conf/flight_plans/mav08.xml b/conf/flight_plans/mav08.xml index dd9f07cf98..700b08d8a7 100644 --- a/conf/flight_plans/mav08.xml +++ b/conf/flight_plans/mav08.xml @@ -80,7 +80,7 @@ - + diff --git a/conf/flight_plans/nav_modules.xml b/conf/flight_plans/nav_modules.xml index 4b85cae985..5b32136be6 100644 --- a/conf/flight_plans/nav_modules.xml +++ b/conf/flight_plans/nav_modules.xml @@ -70,7 +70,7 @@ - + @@ -78,15 +78,15 @@ - + - + - + @@ -100,18 +100,18 @@ - + - + - + diff --git a/conf/flight_plans/nordlys.xml b/conf/flight_plans/nordlys.xml index 6b36ab577f..f7778a7820 100644 --- a/conf/flight_plans/nordlys.xml +++ b/conf/flight_plans/nordlys.xml @@ -49,7 +49,7 @@ - + diff --git a/conf/flight_plans/tcas.xml b/conf/flight_plans/tcas.xml index d995ddcaae..c5eeda466c 100644 --- a/conf/flight_plans/tcas.xml +++ b/conf/flight_plans/tcas.xml @@ -54,7 +54,7 @@ - + diff --git a/conf/flight_plans/xsens_cachejunction.xml b/conf/flight_plans/xsens_cachejunction.xml index 6f160decd0..3d2fd30938 100644 --- a/conf/flight_plans/xsens_cachejunction.xml +++ b/conf/flight_plans/xsens_cachejunction.xml @@ -44,7 +44,7 @@ - + @@ -52,7 +52,7 @@ - + diff --git a/conf/modules/nav_catapult.xml b/conf/modules/nav_catapult.xml index b462a6bae8..c0948f261e 100644 --- a/conf/modules/nav_catapult.xml +++ b/conf/modules/nav_catapult.xml @@ -21,7 +21,7 @@
- + diff --git a/conf/modules/nav_line_border.xml b/conf/modules/nav_line_border.xml index 2306ed2a68..05bdcd9da8 100644 --- a/conf/modules/nav_line_border.xml +++ b/conf/modules/nav_line_border.xml @@ -10,7 +10,7 @@ take care youre navigation radius is not to small in strong wind conditions! In the flight plan: diff --git a/conf/modules/nav_survey_polygon.xml b/conf/modules/nav_survey_polygon.xml index a45c397cf9..1fa85f7a76 100644 --- a/conf/modules/nav_survey_polygon.xml +++ b/conf/modules/nav_survey_polygon.xml @@ -6,7 +6,7 @@ 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): +1. Initialize the variables needed for the survey to start, with nav_survey_polygon_setup(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 @@ -19,7 +19,7 @@ In the flight plan, the survey blocks call init and run functions: Block example: @verbatim - + @endverbatim diff --git a/sw/airborne/modules/cartography/photogrammetry_calculator.h b/sw/airborne/modules/cartography/photogrammetry_calculator.h index c890e75428..e9a33e6e65 100644 --- a/sw/airborne/modules/cartography/photogrammetry_calculator.h +++ b/sw/airborne/modules/cartography/photogrammetry_calculator.h @@ -140,11 +140,11 @@ void photogrammetry_calculator_update_flightplan2camera(void); WaypointAlt(_WP) = photogrammetry_height + GROUND_ALT; \ int _ang = 90 - DegOfRad(photogrammetry_sweep_angle); \ while (_ang > 90) _ang -= 180; while (_ang < -90) _ang += 180; \ - nav_survey_poly_osam_start((_WP), (_COUNT), 2*photogrammetry_sidestep, _ang); \ + nav_survey_poly_osam_setup((_WP), (_COUNT), 2*photogrammetry_sidestep, _ang); \ } #define PhotogrammetryCalculatorPolygonSurvey(_WP, _COUNT) { \ - nav_survey_polygon_start((_WP), (_COUNT), DegOfRad(photogrammetry_sweep_angle), \ + nav_survey_polygon_setup((_WP), (_COUNT), DegOfRad(photogrammetry_sweep_angle), \ photogrammetry_sidestep, photogrammetry_triggerstep, \ photogrammetry_radius_min, photogrammetry_height + GROUND_ALT); \ } diff --git a/sw/airborne/modules/nav/nav_bungee_takeoff.c b/sw/airborne/modules/nav/nav_bungee_takeoff.c index cdae8f0a2e..9434d25bf5 100644 --- a/sw/airborne/modules/nav/nav_bungee_takeoff.c +++ b/sw/airborne/modules/nav/nav_bungee_takeoff.c @@ -76,7 +76,7 @@ static float BungeeAlt; static float TDistance; static uint8_t BungeeWaypoint; -bool_t nav_bungee_takeoff_start(uint8_t BungeeWP) +bool_t nav_bungee_takeoff_setup(uint8_t BungeeWP) { float ThrottleB; diff --git a/sw/airborne/modules/nav/nav_bungee_takeoff.h b/sw/airborne/modules/nav/nav_bungee_takeoff.h index 4e7f614877..37031c56f8 100644 --- a/sw/airborne/modules/nav/nav_bungee_takeoff.h +++ b/sw/airborne/modules/nav/nav_bungee_takeoff.h @@ -31,7 +31,7 @@ #include "std.h" -extern bool_t nav_bungee_takeoff_start(uint8_t BungeeWP); +extern bool_t nav_bungee_takeoff_setup(uint8_t BungeeWP); extern bool_t nav_bungee_takeoff_run(void); #endif diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c index e61ec49809..50edba9e4c 100644 --- a/sw/airborne/modules/nav/nav_catapult.c +++ b/sw/airborne/modules/nav/nav_catapult.c @@ -135,7 +135,7 @@ void nav_catapult_highrate_module(void) //############################################################################################### // Code that runs in 4Hz Nav -bool_t nav_catapult_start(void) +bool_t nav_catapult_setup(void) { nav_catapult_armed = TRUE; diff --git a/sw/airborne/modules/nav/nav_catapult.h b/sw/airborne/modules/nav/nav_catapult.h index 8705b2a1e5..08ef05f0d8 100644 --- a/sw/airborne/modules/nav/nav_catapult.h +++ b/sw/airborne/modules/nav/nav_catapult.h @@ -42,7 +42,7 @@ extern float nav_catapult_initial_throttle; void nav_catapult_highrate_module(void); // Flightplan Code -extern bool_t nav_catapult_start(void); +extern bool_t nav_catapult_setup(void); extern bool_t nav_catapult_arm(void); extern bool_t nav_catapult_run(uint8_t _to, uint8_t _climb); diff --git a/sw/airborne/modules/nav/nav_cube.c b/sw/airborne/modules/nav/nav_cube.c index 4ae06714fe..f007bf1a0e 100644 --- a/sw/airborne/modules/nav/nav_cube.c +++ b/sw/airborne/modules/nav/nav_cube.c @@ -36,7 +36,7 @@ struct NavCube nav_cube; -bool_t nav_cube_start(uint8_t center, uint8_t tb, uint8_t te) { +bool_t nav_cube_setup(uint8_t center, uint8_t tb, uint8_t te) { int32_t j, start_bx, start_by, start_bz, start_ex, start_ey, start_ez; int32_t bx, by, ex, ey; diff --git a/sw/airborne/modules/nav/nav_cube.h b/sw/airborne/modules/nav/nav_cube.h index 04aba18acb..5e8fc735ad 100644 --- a/sw/airborne/modules/nav/nav_cube.h +++ b/sw/airborne/modules/nav/nav_cube.h @@ -122,7 +122,7 @@ struct NavCube { extern struct NavCube nav_cube; -extern bool_t nav_cube_start(uint8_t turb, uint8_t tb, uint8_t te); +extern bool_t nav_cube_setup(uint8_t turb, uint8_t tb, uint8_t te); bool_t nav_cube_run(int8_t j, int8_t i, uint8_t dest_b, uint8_t dest_e, uint8_t src_b, uint8_t src_e); diff --git a/sw/airborne/modules/nav/nav_flower.c b/sw/airborne/modules/nav/nav_flower.c index e4273b4e46..55fe240ad9 100644 --- a/sw/airborne/modules/nav/nav_flower.c +++ b/sw/airborne/modules/nav/nav_flower.c @@ -57,7 +57,7 @@ static float Flowerradius; static uint8_t Center; static uint8_t Edge; -bool_t nav_flower_start(uint8_t CenterWP, uint8_t EdgeWP) +bool_t nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP) { Center = CenterWP; Edge = EdgeWP; diff --git a/sw/airborne/modules/nav/nav_flower.h b/sw/airborne/modules/nav/nav_flower.h index 61cc6f5209..527f0a551e 100644 --- a/sw/airborne/modules/nav/nav_flower.h +++ b/sw/airborne/modules/nav/nav_flower.h @@ -30,6 +30,6 @@ #include "std.h" extern bool_t nav_flower_run(void); -extern bool_t nav_flower_start(uint8_t CenterWP, uint8_t EdgeWP); +extern bool_t nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP); #endif diff --git a/sw/airborne/modules/nav/nav_line.c b/sw/airborne/modules/nav/nav_line.c index 1d5aee2b8a..abe079b53f 100644 --- a/sw/airborne/modules/nav/nav_line.c +++ b/sw/airborne/modules/nav/nav_line.c @@ -33,7 +33,7 @@ enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; static enum line_status line_status; -bool_t nav_line_start( void ) { +bool_t nav_line_setup( void ) { line_status = LR12; return FALSE; } diff --git a/sw/airborne/modules/nav/nav_line.h b/sw/airborne/modules/nav/nav_line.h index 69b120b717..0af33d5fbf 100644 --- a/sw/airborne/modules/nav/nav_line.h +++ b/sw/airborne/modules/nav/nav_line.h @@ -30,7 +30,7 @@ #include "std.h" -extern bool_t nav_line_start( void ); +extern bool_t nav_line_setup( void ); extern bool_t nav_line_run(uint8_t wp1, uint8_t wp2, float radius); #endif /* NAV_LINE_H */ diff --git a/sw/airborne/modules/nav/nav_line_border.c b/sw/airborne/modules/nav/nav_line_border.c index 0364b6f354..f806c53c75 100644 --- a/sw/airborne/modules/nav/nav_line_border.c +++ b/sw/airborne/modules/nav/nav_line_border.c @@ -37,7 +37,7 @@ enum line_border_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; static enum line_border_status line_border_status; -bool_t nav_line_border_start( void ) { +bool_t nav_line_border_setup( void ) { line_border_status = LR12; return FALSE; } diff --git a/sw/airborne/modules/nav/nav_line_border.h b/sw/airborne/modules/nav/nav_line_border.h index 51f434b0eb..a3ced33aba 100644 --- a/sw/airborne/modules/nav/nav_line_border.h +++ b/sw/airborne/modules/nav/nav_line_border.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t nav_line_border_start( void ); +extern bool_t nav_line_border_setup( void ); extern bool_t nav_line_border_run(uint8_t wp1, uint8_t wp2, float radius); #endif /* NAV_LINE_BORDER_H */ diff --git a/sw/airborne/modules/nav/nav_spiral.c b/sw/airborne/modules/nav/nav_spiral.c index 907d3e59c5..642288736b 100644 --- a/sw/airborne/modules/nav/nav_spiral.c +++ b/sw/airborne/modules/nav/nav_spiral.c @@ -47,7 +47,7 @@ struct NavSpiral nav_spiral; -bool_t nav_spiral_start(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments) +bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments) { VECT2_COPY(nav_spiral.center, waypoints[center_wp]); // center of the helix nav_spiral.center.z = waypoints[center_wp].a; diff --git a/sw/airborne/modules/nav/nav_spiral.h b/sw/airborne/modules/nav/nav_spiral.h index a9a97ba6ed..2f52294b47 100644 --- a/sw/airborne/modules/nav/nav_spiral.h +++ b/sw/airborne/modules/nav/nav_spiral.h @@ -52,7 +52,7 @@ struct NavSpiral { extern struct NavSpiral nav_spiral; extern bool_t nav_spiral_run(void); -extern bool_t nav_spiral_start(uint8_t center_wp, uint8_t edge_wp, float radius_start, +extern bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments); #endif // NAV_SPIRAL_H diff --git a/sw/airborne/modules/nav/nav_survey_disc.c b/sw/airborne/modules/nav/nav_survey_disc.c index b2995b7b2a..9d6879668f 100644 --- a/sw/airborne/modules/nav/nav_survey_disc.c +++ b/sw/airborne/modules/nav/nav_survey_disc.c @@ -46,7 +46,7 @@ struct DiscSurvey { static struct DiscSurvey disc_survey; -bool_t nav_survey_disc_start( float grid ) { +bool_t nav_survey_disc_setup( float grid ) { nav_survey_shift = grid; disc_survey.status = DOWNWIND; disc_survey.sign = 1; diff --git a/sw/airborne/modules/nav/nav_survey_disc.h b/sw/airborne/modules/nav/nav_survey_disc.h index 0684977d7a..1752d3b1a4 100644 --- a/sw/airborne/modules/nav/nav_survey_disc.h +++ b/sw/airborne/modules/nav/nav_survey_disc.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t nav_survey_disc_start( float grid ); +extern bool_t nav_survey_disc_setup( float grid ); extern bool_t nav_survey_disc_run(uint8_t c, float radius); #endif /* NAV_SURVEY_DISC_H */ diff --git a/sw/airborne/modules/nav/nav_survey_poly_osam.c b/sw/airborne/modules/nav/nav_survey_poly_osam.c index b805ffc91c..bf52407534 100644 --- a/sw/airborne/modules/nav/nav_survey_poly_osam.c +++ b/sw/airborne/modules/nav/nav_survey_poly_osam.c @@ -77,7 +77,7 @@ static float MaxY; uint16_t PolySurveySweepNum; uint16_t PolySurveySweepBackNum; -bool_t nav_survey_poly_osam_start(uint8_t EntryWP, uint8_t Size, float sw, float Orientation) +bool_t nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation) { SmallestCorner.x = 0; SmallestCorner.y = 0; diff --git a/sw/airborne/modules/nav/nav_survey_poly_osam.h b/sw/airborne/modules/nav/nav_survey_poly_osam.h index 9752ec40dc..0e39ed9c8f 100644 --- a/sw/airborne/modules/nav/nav_survey_poly_osam.h +++ b/sw/airborne/modules/nav/nav_survey_poly_osam.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t nav_survey_poly_osam_start(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); extern bool_t nav_survey_poly_osam_run(void); extern uint16_t PolySurveySweepNum; extern uint16_t PolySurveySweepBackNum; diff --git a/sw/airborne/modules/nav/nav_survey_polygon.c b/sw/airborne/modules/nav/nav_survey_polygon.c index bd6593326d..b9e7d7a562 100644 --- a/sw/airborne/modules/nav/nav_survey_polygon.c +++ b/sw/airborne/modules/nav/nav_survey_polygon.c @@ -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_polygon_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_setup(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; diff --git a/sw/airborne/modules/nav/nav_survey_polygon.h b/sw/airborne/modules/nav/nav_survey_polygon.h index daa6aaeb88..6a22019728 100644 --- a/sw/airborne/modules/nav/nav_survey_polygon.h +++ b/sw/airborne/modules/nav/nav_survey_polygon.h @@ -82,7 +82,7 @@ struct SurveyPolyAdv { struct FloatVect2 ret_end; }; -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_setup(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 diff --git a/sw/airborne/modules/nav/nav_survey_zamboni.c b/sw/airborne/modules/nav/nav_survey_zamboni.c index 0354e44bde..15e9a3df5c 100644 --- a/sw/airborne/modules/nav/nav_survey_zamboni.c +++ b/sw/airborne/modules/nav/nav_survey_zamboni.c @@ -54,7 +54,7 @@ struct ZamboniSurvey zs; * @param sweep_lines number of sweep_lines to fly * @param altitude the altitude that must be reached before the flyover starts */ -bool_t nav_survey_zamboni_start(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude) +bool_t nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude) { zs.current_laps = 0; zs.pre_leave_angle = 2; diff --git a/sw/airborne/modules/nav/nav_survey_zamboni.h b/sw/airborne/modules/nav/nav_survey_zamboni.h index ae25561b49..9f60be2812 100644 --- a/sw/airborne/modules/nav/nav_survey_zamboni.h +++ b/sw/airborne/modules/nav/nav_survey_zamboni.h @@ -70,7 +70,7 @@ struct ZamboniSurvey { }; -extern bool_t nav_survey_zamboni_start(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude); +extern bool_t nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude); extern bool_t nav_survey_zamboni_run(void); #endif //ZAMBONI_SURVEY_H diff --git a/sw/airborne/modules/nav/nav_vertical_raster.c b/sw/airborne/modules/nav/nav_vertical_raster.c index 63c6ec2f40..be9f7db1f1 100644 --- a/sw/airborne/modules/nav/nav_vertical_raster.c +++ b/sw/airborne/modules/nav/nav_vertical_raster.c @@ -40,7 +40,7 @@ enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; static enum line_status line_status; -bool_t nav_vertical_raster_start( void ) { +bool_t nav_vertical_raster_setup( void ) { line_status = LR12; return FALSE; } diff --git a/sw/airborne/modules/nav/nav_vertical_raster.h b/sw/airborne/modules/nav/nav_vertical_raster.h index 82e7ed01ff..801cca5485 100644 --- a/sw/airborne/modules/nav/nav_vertical_raster.h +++ b/sw/airborne/modules/nav/nav_vertical_raster.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t nav_vertical_raster_start( void ); +extern bool_t nav_vertical_raster_setup( void ); extern bool_t nav_vertical_raster_run(uint8_t wp1, uint8_t wp2, float radius, float AltSweep); #endif