[fixedwing] convert border_line to a module

conf/airframes/examples/microjet.xml

@@ -196,6 +196,7 @@
     <load name="openlog.xml"/>
     <load name="nav_survey_rectangle.xml"/>
     <load name="nav_survey_poly_adv.xml"/>
+    <load name="nav_border_line.xml"/>
     <load name="infrared_adc.xml"/>
     <load name="digital_cam_servo.xml">
       <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />

conf/firmwares/subsystems/fixedwing/navigation_extra.makefile

@@ -13,5 +13,4 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_line.c
 
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/border_line.c
 

conf/flight_plans/nav_modules.xml

@@ -77,11 +77,11 @@
       <call fun="init_poly_survey_adv(WP_S1,5,0,30,10,50,100)"/>
       <call fun="poly_survey_adv()"/>
     </block>
-    <block group="extra_pattern" name="Path 1,2,S1,S2,STDBY" strip_button="Path (1,2,S1,S2,STDBY)" strip_icon="path.png">
+    <block name="Border line 1-2" strip_button="Border Line (wp 1-2)">
-      <path wpts="1,2 S1"/>
+      <call fun="border_line_init()"/>
-      <path approaching_time="1" pitch="auto" throttle="0.4" wpts="S1, S2 STDBY"/>
+      <call fun="border_line(WP_1, WP_2, nav_radius)"/>
-      <deroute block="Standby"/>
     </block>
+
     <block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
       <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
       <deroute block="land"/>

conf/modules/nav_border_line.xml

@@ -0,0 +1,25 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nav_border_line" dir="nav">
+  <doc>
+    <description>
+       navigate along a border line (line 1-2) with turns in the same direction
+
+       you can use this function to navigate along a border if it is essetial not to cross it
+       navigation is along line p1, p2 with turns in the same direction to make sure you dont cross the line
+       take care youre navigation radius is not to small in strong wind conditions!
+       In the flight plan:
+       <!--
+        <call fun="nav_line_init()"/>
+        <call fun="nav_line(WP_waypoint1_name, WP_waypoint1_name, nav_radius)"/>
+       -->
+
+    </description>
+  </doc>
+  <header>
+    <file name="nav_border_line.h"/>
+  </header>
+  <makefile>
+    <file name="nav_border_line.c"/>
+  </makefile>
+</module>

sw/airborne/modules/nav/nav_border_line.c

@@ -1,6 +1,6 @@
 /*
  * Copyright (C) 2012 Tobias Muench
- * modified nav_linie by Anton Kochevar, ENAC
+ * modified nav_line by Anton Kochevar, ENAC
  *
  * This file is part of paparazzi.
  *
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/navigation/border_line.c
+ * @file modules/nav/nav_border_line.c
  * @brief navigate along a border line (line 1-2) with turns in the same direction
  *
  * you can use this function to navigate along a border if it is essetial not to cross it
@@ -29,7 +29,7 @@
  * take care youre navigation radius is not to small in strong wind conditions!
  */
 
-#include "subsystems/navigation/border_line.h"
+#include "modules/nav/nav_border_line.h"
 #include "generated/airframe.h"
 #include "subsystems/nav.h"
 

sw/airborne/modules/nav/nav_border_line.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/navigation/border_line.h
+ * @file modules/nav/nav_border_line.h
  * @brief navigate along a border line (line 1-2) with turns in the same direction
  */