[fixedwing] convert Osam navigation routines to a module. Common naming for start and run functions

conf/airframes/examples/microjet.xml

@@ -198,6 +198,7 @@
     <load name="nav_border_line.xml"/>
     <load name="nav_line.xml"/>
     <load name="nav_smooth.xml"/>
+    <load name="nav_osam.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

@@ -11,5 +11,3 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c
 
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
-

conf/flight_plans/nav_modules.xml

@@ -72,6 +72,7 @@
     <block group="extra_pattern" name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
       <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
     </block>
+    <!--===================== Nav modules example blocks =================================-->
     <block name="Poly Survey S1-S2" strip_button="Poly Survey">
       <call fun="init_poly_survey_adv(WP_S1,5,0,30,10,50,100)"/>
       <call fun="poly_survey_adv()"/>
@@ -80,7 +81,7 @@
       <call fun="border_line_init()"/>
       <call fun="border_line(WP_1, WP_2, nav_radius)"/>
     </block>
-    <block name="Smooth nav">
+    <block name="Smooth nav" strip_button="Smooth nav (wp 1-2)">
       <set var="snav_desired_tow" value="gps.tow / 1000. + 200."/>
       <call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
       <call fun="snav_circle1()"/>
@@ -90,6 +91,36 @@
       <go from="1" hmode="route" wp="2"/>
       <deroute block="Standby"/>
     </block>
+    <!-- =====================  OSAM Nav modules example blocks  =========================-->
+
+    <block name="Flower" strip_button="Flower (wp 1-2)">
+      <call fun="flower_start(WP_1, WP_2)"/>
+      <call fun="flower_run()"/>
+    </block>
+    <block name="Bungee take-off">
+      <call fun="bungee_takeoff_start(WP_HOME)"/>
+      <call fun="bungee_takeoff_run()"/>
+    </block>
+    <block name="Skid Landing">
+      <call fun="skid_landing_start(WP_AF,WP_TD,nav_radius)"/>
+      <call fun="skid_landing_run()"/>
+    </block>
+    <block name="Poly survey">
+      <call fun="osam_poly_survey_start(WP_S1, 5, 50, 45)"/>
+      <call fun="osam_poly_survey_run()"/>
+    </block>
+    <block name="Flight Line block">
+      <call fun="osam_flight_line_block_run(WP_S1, WP_S5, nav_radius, 30, 10)"/>
+    </block>
+    <block name="Vertical Raster">
+      <call fun="vertical_raster_start()"/>
+      <call fun="vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
+    </block>
+    <block name="Vertical Raster">
+      <call fun="vertical_raster_start()"/>
+      <call fun="vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
+    </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"/>

conf/modules/nav_osam.xml

@@ -0,0 +1,20 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nav_osam" dir="nav">
+  <doc>
+    <description>
+       OSAM collection of advanced navigation routines.
+       -Flower
+       -Bungee take-off
+       -Polygon survey
+       -Vertical raster
+       -Skid landing
+    </description>
+  </doc>
+  <header>
+    <file name="nav_osam.h"/>
+  </header>
+  <makefile>
+    <file name="nav_osam.c"/>
+  </makefile>
+</module>

sw/airborne/modules/nav/nav_osam.c

@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/navigation/OSAMNav.c
+ * @file modules/nav/nav_osam.c
  *
  */
 
-#include "subsystems/navigation/OSAMNav.h"
+#include "modules/nav/nav_osam.h"
 
 #include "subsystems/nav.h"
 #include "state.h"
@@ -63,7 +63,7 @@ static uint8_t Edge;
 #define LINE_STOP_FUNCTION {}
 #endif
 
-bool_t InitializeFlower(uint8_t CenterWP, uint8_t EdgeWP)
+bool_t flower_start(uint8_t CenterWP, uint8_t EdgeWP)
 {
   Center = CenterWP;
   Edge = EdgeWP;
@@ -93,7 +93,7 @@ bool_t InitializeFlower(uint8_t CenterWP, uint8_t EdgeWP)
   return FALSE;
 }
 
-bool_t FlowerNav(void)
+bool_t flower_run(void)
 {
   TransCurrentX = stateGetPositionEnu_f()->x - WaypointX(Center);
   TransCurrentY = stateGetPositionEnu_f()->y - WaypointY(Center);
@@ -203,7 +203,7 @@ static float BungeeAlt;
 static float TDistance;
 static uint8_t BungeeWaypoint;
 
-bool_t InitializeBungeeTakeoff(uint8_t BungeeWP)
+bool_t bungee_takeoff_start(uint8_t BungeeWP)
 {
   float ThrottleB;
 
@@ -257,7 +257,7 @@ bool_t InitializeBungeeTakeoff(uint8_t BungeeWP)
   return FALSE;
 }
 
-bool_t BungeeTakeoff(void)
+bool_t bungee_takeoff_run(void)
 {
   //Translate current position so Throttle point is (0,0)
   float Currentx = stateGetPositionEnu_f()->x-throttlePx;
@@ -375,7 +375,7 @@ static float MaxY;
 uint16_t PolySurveySweepNum;
 uint16_t PolySurveySweepBackNum;
 
-bool_t InitializePolygonSurvey(uint8_t EntryWP, uint8_t Size, float sw, float Orientation)
+bool_t osam_poly_survey_start(uint8_t EntryWP, uint8_t Size, float sw, float Orientation)
 {
   SmallestCorner.x = 0;
   SmallestCorner.y = 0;
@@ -571,7 +571,7 @@ bool_t InitializePolygonSurvey(uint8_t EntryWP, uint8_t Size, float sw, float Or
   return FALSE;
 }
 
-bool_t PolygonSurvey(void)
+bool_t osam_poly_survey_run(void)
 {
   struct Point2D C;
   struct Point2D ToP;
@@ -768,12 +768,12 @@ bool_t PolygonSurvey(void)
 enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
 static enum line_status line_status;
 
-bool_t InitializeVerticalRaster( void ) {
+bool_t vertical_raster_start( void ) {
   line_status = LR12;
   return FALSE;
 }
 
-bool_t VerticalRaster(uint8_t l1, uint8_t l2, float radius, float AltSweep) {
+bool_t vertical_raster_run(uint8_t l1, uint8_t l2, float radius, float AltSweep) {
   radius = fabs(radius);
   float alt = waypoints[l1].a;
   waypoints[l2].a = alt;
@@ -914,7 +914,7 @@ static float ApproachQDR;
 static float FinalLandAltitude;
 static uint8_t FinalLandCount;
 
-bool_t InitializeSkidLanding(uint8_t AFWP, uint8_t TDWP, float radius)
+bool_t skid_landing_start(uint8_t AFWP, uint8_t TDWP, float radius)
 {
   AFWaypoint = AFWP;
   TDWaypoint = TDWP;
@@ -953,7 +953,7 @@ bool_t InitializeSkidLanding(uint8_t AFWP, uint8_t TDWP, float radius)
   return FALSE;
 }
 
-bool_t SkidLanding(void)
+bool_t skid_landing_run(void)
 {
   switch(CLandingStatus)
   {
@@ -1029,7 +1029,7 @@ static struct Point2D FLTOWP;
 static float FLQDR;
 static float FLRadius;
 
-bool_t FlightLine(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After)
+bool_t osam_flight_line_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After)
 {
   struct Point2D V;
   struct Point2D P;
@@ -1136,11 +1136,11 @@ bool_t FlightLine(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Befo
 
 static uint8_t FLBlockCount = 0;
 
-bool_t FlightLineBlock(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After)
+bool_t osam_flight_line_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After)
 {
   if(First_WP < Last_WP)
   {
-    FlightLine(First_WP+FLBlockCount, First_WP+FLBlockCount+1, radius, Space_Before, Space_After);
+    osam_flight_line_run(First_WP+FLBlockCount, First_WP+FLBlockCount+1, radius, Space_Before, Space_After);
 
     if(CFLStatus == FLInitialize)
     {
@@ -1154,7 +1154,7 @@ bool_t FlightLineBlock(uint8_t First_WP, uint8_t Last_WP, float radius, float Sp
   }
   else
   {
-    FlightLine(First_WP-FLBlockCount, First_WP-FLBlockCount-1, radius, Space_Before, Space_After);
+    osam_flight_line_run(First_WP-FLBlockCount, First_WP-FLBlockCount-1, radius, Space_Before, Space_After);
 
     if(CFLStatus == FLInitialize)
     {

sw/airborne/modules/nav/nav_osam.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/navigation/OSAMNav.h
+ * @file modules/nav/nav_osam.h
  *
  */
 
@@ -33,29 +33,29 @@
 struct Point2D {float x; float y;};
 struct Line {float m;float b;float x;};
 
-extern bool_t FlowerNav(void);
+extern bool_t flower_run(void);
-extern bool_t InitializeFlower(uint8_t CenterWP, uint8_t EdgeWP);
+extern bool_t flower_start(uint8_t CenterWP, uint8_t EdgeWP);
 
-extern bool_t InitializeBungeeTakeoff(uint8_t BungeeWP);
+extern bool_t bungee_takeoff_start(uint8_t BungeeWP);
-extern bool_t BungeeTakeoff(void);
+extern bool_t bungee_takeoff_run(void);
 
-extern bool_t InitializeSkidLanding(uint8_t AFWP, uint8_t TDWP, float radius);
+extern bool_t skid_landing_start(uint8_t AFWP, uint8_t TDWP, float radius);
-extern bool_t SkidLanding(void);
+extern bool_t skid_landing_run(void);
 
 #define PolygonSize 10
 #define MaxFloat   1000000000
 #define MinFloat   -1000000000
 
-extern bool_t InitializePolygonSurvey(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
+extern bool_t osam_poly_survey_start(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
-extern bool_t PolygonSurvey(void);
+extern bool_t osam_poly_survey_run(void);
 extern uint16_t PolySurveySweepNum;
 extern uint16_t PolySurveySweepBackNum;
 
-extern bool_t InitializeVerticalRaster( void );
+extern bool_t vertical_raster_start( void );
-extern bool_t VerticalRaster(uint8_t wp1, uint8_t wp2, float radius, float AltSweep);
+extern bool_t vertical_raster_run(uint8_t wp1, uint8_t wp2, float radius, float AltSweep);
 
-extern bool_t FlightLine(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After);
+extern bool_t osam_flight_line_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After);
-extern bool_t FlightLineBlock(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After);
+extern bool_t osam_flight_line_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After);
 
 void TranslateAndRotateFromWorld(struct Point2D *p, float Zrot, float transX, float transY);
 void RotateAndTranslateToWorld(struct Point2D *p, float Zrot, float transX, float transY);