mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-31 20:38:27 +08:00
[fixedwing][modules] make nav_cube a module
This commit is contained in:
Felix Ruess
@@ -11,7 +11,6 @@ $(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 $(SRC_SUBSYSTEMS)/navigation/nav_line.c
|
||||
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_cube.c
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/discsurvey.c
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
|
||||
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
|
||||
|
||||
@@ -2,10 +2,6 @@
|
||||
|
||||
<flight_plan ALT="130" GROUND_ALT="68" LAT0="52.26483" LON0="9.99394" MAX_DIST_FROM_HOME="1500" NAME="Gross Lobke Cube" QFU="270" SECURITY_HEIGHT="60">
|
||||
|
||||
<header>
|
||||
#include "subsystems/navigation/nav_cube.h"
|
||||
</header>
|
||||
|
||||
<waypoints>
|
||||
<waypoint name="HOME" x="-30.0" y="13.0"/>
|
||||
<waypoint name="CENTER" x="10.0" y="1.0" alt="140.0"/>
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="nav_cube" dir="nav">
|
||||
<doc>
|
||||
<description>
|
||||
Fixedwing Navigation in a cube towards a center.
|
||||
</description>
|
||||
</doc>
|
||||
<header>
|
||||
<file name="nav_cube.h"/>
|
||||
</header>
|
||||
<makefile>
|
||||
<file name="nav_cube.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
@@ -20,26 +20,23 @@
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/navigation/nav_cube.c
|
||||
* @file modules/nav/nav_cube.c
|
||||
*
|
||||
* Fixedwing Navigation in a cube towards a center.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "generated/airframe.h"
|
||||
#include "subsystems/navigation/nav_cube.h"
|
||||
#include "modules/nav/nav_cube.h"
|
||||
#include "subsystems/nav.h"
|
||||
#include "generated/flight_plan.h"
|
||||
|
||||
int32_t cube_alpha;
|
||||
int32_t cube_size_x, cube_size_y, cube_size_z;
|
||||
int32_t cube_grid_x, cube_grid_z;
|
||||
int32_t cube_offs_x, cube_offs_y, cube_offs_z;
|
||||
int32_t cube_nline_x, cube_nline_z;
|
||||
int32_t cube_sect=1;
|
||||
int32_t cube_nsect_x=1, cube_nsect_z=1;
|
||||
#define MAX_LINES_X 8
|
||||
#define STBY_OFFSET 500
|
||||
|
||||
bool_t nav_cube_init(uint8_t center, uint8_t tb, uint8_t te) {
|
||||
struct NavCube nav_cube;
|
||||
|
||||
bool_t nav_cube_start(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;
|
||||
@@ -50,52 +47,59 @@ bool_t nav_cube_init(uint8_t center, uint8_t tb, uint8_t te) {
|
||||
int32_t cube_line_z_start, cube_line_z_end;
|
||||
|
||||
/* sanity checks */
|
||||
if (cube_nsect_x <= 0) cube_nsect_x = 1;
|
||||
if (cube_nsect_z <= 0) cube_nsect_z = 1;
|
||||
if ((cube_sect <= 0) ||
|
||||
(cube_sect > (cube_nsect_x*cube_nsect_z))) cube_sect = 1;
|
||||
if (nav_cube.nsect_x <= 0)
|
||||
nav_cube.nsect_x = 1;
|
||||
if (nav_cube.nsect_z <= 0)
|
||||
nav_cube.nsect_z = 1;
|
||||
if ((nav_cube.sect <= 0) || (nav_cube.sect > (nav_cube.nsect_x*nav_cube.nsect_z)))
|
||||
nav_cube.sect = 1;
|
||||
|
||||
/* total number of lines/layers to fly */
|
||||
if (cube_grid_x == 0) cube_nline_x_t = 1;
|
||||
else cube_nline_x_t = cube_size_x / cube_grid_x + 1;
|
||||
if (cube_grid_z == 0) cube_nline_z_t = 1;
|
||||
else cube_nline_z_t = cube_size_z / cube_grid_z + 1;
|
||||
if (nav_cube.grid_x == 0)
|
||||
cube_nline_x_t = 1;
|
||||
else
|
||||
cube_nline_x_t = nav_cube.size.x / nav_cube.grid_x + 1;
|
||||
if (nav_cube.grid_z == 0)
|
||||
cube_nline_z_t = 1;
|
||||
else
|
||||
cube_nline_z_t = nav_cube.size.z / nav_cube.grid_z + 1;
|
||||
|
||||
/* position and number of lines in this sector */
|
||||
cube_pos_x = (cube_sect-1) % cube_nsect_x;
|
||||
cube_line_x_start = (cube_pos_x * cube_nline_x_t)/cube_nsect_x;
|
||||
cube_line_x_end = ((cube_pos_x+1) * cube_nline_x_t)/cube_nsect_x;
|
||||
if (cube_line_x_end > cube_nline_x_t) cube_line_x_end = cube_nline_x_t;
|
||||
cube_nline_x = cube_line_x_end - cube_line_x_start;
|
||||
cube_pos_x = (nav_cube.sect-1) % nav_cube.nsect_x;
|
||||
cube_line_x_start = (cube_pos_x * cube_nline_x_t)/nav_cube.nsect_x;
|
||||
cube_line_x_end = ((cube_pos_x+1) * cube_nline_x_t)/nav_cube.nsect_x;
|
||||
if (cube_line_x_end > cube_nline_x_t)
|
||||
cube_line_x_end = cube_nline_x_t;
|
||||
nav_cube.nline_x = cube_line_x_end - cube_line_x_start;
|
||||
|
||||
/* do not do more than pre-set number of lines */
|
||||
if (cube_nline_x >= MAX_LINES_X) cube_nline_x = MAX_LINES_X-1;
|
||||
if (nav_cube.nline_x >= MAX_LINES_X) nav_cube.nline_x = MAX_LINES_X-1;
|
||||
|
||||
/* position and number of layers in this sector */
|
||||
cube_pos_z = (cube_sect-1) / cube_nsect_x;
|
||||
cube_line_z_start = (cube_pos_z * cube_nline_z_t)/cube_nsect_z;
|
||||
cube_line_z_end = ((cube_pos_z+1) * cube_nline_z_t)/cube_nsect_z;
|
||||
cube_nline_z = cube_line_z_end - cube_line_z_start;
|
||||
cube_pos_z = (nav_cube.sect-1) / nav_cube.nsect_x;
|
||||
cube_line_z_start = (cube_pos_z * cube_nline_z_t)/nav_cube.nsect_z;
|
||||
cube_line_z_end = ((cube_pos_z+1) * cube_nline_z_t)/nav_cube.nsect_z;
|
||||
nav_cube.nline_z = cube_line_z_end - cube_line_z_start;
|
||||
|
||||
/* do the costly stuff only once */
|
||||
alpha = ((360. - cube_alpha) / 360.) * 2 * M_PI;
|
||||
alpha = ((360. - nav_cube.alpha) / 360.) * 2 * M_PI;
|
||||
cos_alpha = cos(alpha);
|
||||
sin_alpha = sin(alpha);
|
||||
|
||||
/* calculate lower left start begin/end x coord */
|
||||
start_bx = WaypointX(center) - (((cube_nline_x_t-1) * cube_grid_x)/2)
|
||||
+ cube_offs_x;
|
||||
start_bx = WaypointX(center) - (((cube_nline_x_t-1) * nav_cube.grid_x)/2)
|
||||
+ nav_cube.offset.x;
|
||||
start_ex = start_bx;
|
||||
|
||||
/* calculate lower left start end point y coord */
|
||||
start_ey = WaypointY(center) - cube_offs_y;
|
||||
start_ey = WaypointY(center) - nav_cube.offset.y;
|
||||
|
||||
/* calculate lower left start begin point y coord */
|
||||
start_by = start_ey - cube_size_y;
|
||||
start_by = start_ey - nav_cube.size.y;
|
||||
|
||||
/* calculate lower left start begin/end z coord */
|
||||
start_bz = waypoints[center].a - (((cube_nline_z_t-1) * cube_grid_z)/2)
|
||||
+ (cube_line_z_start*cube_grid_z) + cube_offs_z;
|
||||
start_bz = waypoints[center].a - (((cube_nline_z_t-1) * nav_cube.grid_z)/2)
|
||||
+ (cube_line_z_start*nav_cube.grid_z) + nav_cube.offset.z;
|
||||
start_ez = start_bz;
|
||||
|
||||
/* reset all waypoints to the standby position */
|
||||
@@ -107,12 +111,12 @@ bool_t nav_cube_init(uint8_t center, uint8_t tb, uint8_t te) {
|
||||
}
|
||||
|
||||
/* set used waypoints */
|
||||
for (j=0; j < cube_nline_x; j++) {
|
||||
for (j=0; j < nav_cube.nline_x; j++) {
|
||||
int i = cube_line_x_start+j;
|
||||
/* set waypoints and vectorize in regard to center */
|
||||
bx = (start_bx + i*cube_grid_x) - WaypointX(center);
|
||||
bx = (start_bx + i*nav_cube.grid_x) - WaypointX(center);
|
||||
by = start_by - WaypointY(center);
|
||||
ex = (start_ex + i*cube_grid_x) - WaypointX(center);
|
||||
ex = (start_ex + i*nav_cube.grid_x) - WaypointX(center);
|
||||
ey = start_ey - WaypointY(center);
|
||||
/* rotate clockwise with alpha and un-vectorize*/
|
||||
waypoints[tb+j].x = bx * cos_alpha - by * sin_alpha + WaypointX(center);
|
||||
@@ -124,30 +128,34 @@ bool_t nav_cube_init(uint8_t center, uint8_t tb, uint8_t te) {
|
||||
}
|
||||
|
||||
/* bug in <for from="" to=""> ? */
|
||||
cube_nline_x--;
|
||||
cube_nline_z--;
|
||||
nav_cube.nline_x--;
|
||||
nav_cube.nline_z--;
|
||||
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
bool_t nav_cube(int8_t j, int8_t i,
|
||||
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) {
|
||||
|
||||
if (i > cube_nline_x) return FALSE;
|
||||
if (j > cube_nline_z) return FALSE;
|
||||
if (i > nav_cube.nline_x)
|
||||
return FALSE;
|
||||
if (j > nav_cube.nline_z)
|
||||
return FALSE;
|
||||
|
||||
waypoints[dest_b].x = waypoints[src_b+i].x;
|
||||
waypoints[dest_b].y = waypoints[src_b+i].y;
|
||||
waypoints[dest_b].a = waypoints[src_b+i].a + j*cube_grid_z;
|
||||
waypoints[dest_b].a = waypoints[src_b+i].a + j*nav_cube.grid_z;
|
||||
/* always keep at least security altitude */
|
||||
if (waypoints[dest_b].a < (ground_alt+SECURITY_HEIGHT)) waypoints[dest_b].a = ground_alt+SECURITY_HEIGHT;
|
||||
if (waypoints[dest_b].a < (ground_alt+SECURITY_HEIGHT))
|
||||
waypoints[dest_b].a = ground_alt+SECURITY_HEIGHT;
|
||||
|
||||
waypoints[dest_e].x = waypoints[src_e+i].x;
|
||||
waypoints[dest_e].y = waypoints[src_e+i].y;
|
||||
waypoints[dest_e].a = waypoints[src_e+i].a + j*cube_grid_z;
|
||||
waypoints[dest_e].a = waypoints[src_e+i].a + j*nav_cube.grid_z;
|
||||
/* always keep at least security altitude */
|
||||
if (waypoints[dest_e].a < (ground_alt+SECURITY_HEIGHT)) waypoints[dest_e].a = ground_alt+SECURITY_HEIGHT;
|
||||
if (waypoints[dest_e].a < (ground_alt+SECURITY_HEIGHT))
|
||||
waypoints[dest_e].a = ground_alt+SECURITY_HEIGHT;
|
||||
|
||||
return FALSE;
|
||||
}
|
||||
@@ -0,0 +1,144 @@
|
||||
/*
|
||||
* Copyright (C) 2010 Martin Mueller
|
||||
*
|
||||
* 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 modules/nav/nav_cube.h
|
||||
*
|
||||
* Fixedwing Navigation in a cube towards a center.
|
||||
*
|
||||
* @verbatim
|
||||
* from above:
|
||||
*
|
||||
* | (offs_x)
|
||||
*
|
||||
* o [x, y] -
|
||||
* |
|
||||
* | (offs_y)
|
||||
* |
|
||||
* -
|
||||
* ^ ^ ^ ^ ^ |
|
||||
* | | | | | |
|
||||
* | | | | | | (size_y)
|
||||
* | | | | | |
|
||||
* | | | | | |
|
||||
* -
|
||||
* |--|
|
||||
* (grid_x)
|
||||
*
|
||||
* |-----------|
|
||||
* (size_x)
|
||||
*
|
||||
*
|
||||
* side view:
|
||||
*
|
||||
* ---------> - -
|
||||
* | (grid_z) |
|
||||
* ---------> - |
|
||||
* - | (size_z)
|
||||
* ---------> | (offs_z) |
|
||||
* o [alt] - |
|
||||
* ---------> -
|
||||
*
|
||||
* |----------|--------|
|
||||
* (size_y) (offs_y)
|
||||
*
|
||||
*
|
||||
* back view, 1x1 sector:
|
||||
*
|
||||
* -------
|
||||
* | |
|
||||
* | 1 | ^
|
||||
* | | |
|
||||
* s------- |
|
||||
*
|
||||
* ---->
|
||||
*
|
||||
*
|
||||
* back view, 3x2 sectors:
|
||||
*
|
||||
* ------- ------- -------
|
||||
* | | | |
|
||||
* | 4 | 5 | 6 | ^
|
||||
* | | | | |
|
||||
* s-------s-------s------- |
|
||||
* | | | |
|
||||
* | 1 | 2 | 3 | ^
|
||||
* | | | | |
|
||||
* s-------s-------s------- | (nsect_z)
|
||||
*
|
||||
* ----> ----> ---->
|
||||
* (nsect_x)
|
||||
* @endverbatim
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef NAV_CUBE_H
|
||||
#define NAV_CUBE_H
|
||||
|
||||
#include "std.h"
|
||||
#include "math/pprz_algebra_int.h"
|
||||
|
||||
struct NavCube {
|
||||
/** size of the cube.
|
||||
* x: perpendicular to flight dir,
|
||||
* y: in flight dir,
|
||||
* z: height
|
||||
*/
|
||||
struct Int32Vect3 size;
|
||||
|
||||
/** offset to center.
|
||||
* x: horizontal,
|
||||
* y: in direction,
|
||||
* z: vertical
|
||||
*/
|
||||
struct Int32Vect3 offset;
|
||||
int32_t alpha; ///< angle in degrees of flight direction to north, clockwise
|
||||
int32_t grid_x; ///< grid distance x (horizontal)
|
||||
int32_t grid_z; ///< grid distance z (vertical)
|
||||
int32_t sect; ///< sector to fly in (1..[nsect_x*nsect_z])
|
||||
int32_t nsect_x; ///< number of sectors horizontal
|
||||
int32_t nsect_z; ///< number of sectors vertical
|
||||
int32_t nline_x; ///< number of lines x (horizontal)
|
||||
int32_t nline_z; ///< number of lines z (vertical)
|
||||
};
|
||||
|
||||
extern struct NavCube nav_cube;
|
||||
|
||||
extern bool_t nav_cube_start(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);
|
||||
|
||||
#define nav_cube_SetAlpha(i) { nav_cube.alpha=i; }
|
||||
#define nav_cube_SetSect(i) { nav_cube.sect=i; }
|
||||
#define nav_cube_SetGridX(i) { nav_cube.grid_x=i; }
|
||||
#define nav_cube_SetGridZ(i) { nav_cube.grid_z=i; }
|
||||
#define nav_cube_SetSizeX(i) { nav_cube.size.x=i; }
|
||||
#define nav_cube_SetSizeY(i) { nav_cube.size.y=i; }
|
||||
#define nav_cube_SetSizeZ(i) { nav_cube.size.z=i; }
|
||||
#define nav_cube_SetOffsX(i) { nav_cube.offs.x=i; }
|
||||
#define nav_cube_SetOffsY(i) { nav_cube.offs.y=i; }
|
||||
#define nav_cube_SetOffsZ(i) { nav_cube.offs.z=i; }
|
||||
#define nav_cube_SetNSectX(i) { nav_cube.nsect_x=i; }
|
||||
#define nav_cube_SetNSectZ(i) { nav_cube.nsect_z=i; }
|
||||
|
||||
|
||||
#endif /* NAV_CUBE_H */
|
||||
@@ -1,138 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2010 Martin Mueller
|
||||
*
|
||||
* 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_cube.h
|
||||
*
|
||||
* Fixedwing Navigation in a cube towards a center.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef NAV_CUBE_H
|
||||
#define NAV_CUBE_H
|
||||
|
||||
#include "std.h"
|
||||
|
||||
#define MAX_LINES_X 8
|
||||
#define STBY_OFFSET 500
|
||||
|
||||
extern bool_t nav_cube_init(uint8_t turb, uint8_t tb, uint8_t te);
|
||||
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_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)
|
||||
|
||||
#define nav_cube_SetAlpha(i) { cube_alpha=i; }
|
||||
#define nav_cube_SetSect(i) { cube_sect=i; }
|
||||
#define nav_cube_SetGridX(i) { cube_grid_x=i; }
|
||||
#define nav_cube_SetGridZ(i) { cube_grid_z=i; }
|
||||
#define nav_cube_SetSizeX(i) { cube_size_x=i; }
|
||||
#define nav_cube_SetSizeY(i) { cube_size_y=i; }
|
||||
#define nav_cube_SetSizeZ(i) { cube_size_z=i; }
|
||||
#define nav_cube_SetOffsX(i) { cube_offs_x=i; }
|
||||
#define nav_cube_SetOffsY(i) { cube_offs_y=i; }
|
||||
#define nav_cube_SetOffsZ(i) { cube_offs_z=i; }
|
||||
#define nav_cube_SetNSectX(i) { cube_nsect_x=i; }
|
||||
#define nav_cube_SetNSectZ(i) { cube_nsect_z=i; }
|
||||
|
||||
/*
|
||||
|
||||
from above:
|
||||
|
||||
| (offs_x)
|
||||
|
||||
o [x, y] -
|
||||
|
|
||||
| (offs_y)
|
||||
|
|
||||
-
|
||||
^ ^ ^ ^ ^ |
|
||||
| | | | | |
|
||||
| | | | | | (size_y)
|
||||
| | | | | |
|
||||
| | | | | |
|
||||
-
|
||||
|--|
|
||||
(grid_x)
|
||||
|
||||
|-----------|
|
||||
(size_x)
|
||||
|
||||
|
||||
side view:
|
||||
|
||||
---------> - -
|
||||
| (grid_z) |
|
||||
---------> - |
|
||||
- | (size_z)
|
||||
---------> | (offs_z) |
|
||||
o [alt] - |
|
||||
---------> -
|
||||
|
||||
|----------|--------|
|
||||
(size_y) (offs_y)
|
||||
|
||||
|
||||
back view, 1x1 sector:
|
||||
|
||||
-------
|
||||
| |
|
||||
| 1 | ^
|
||||
| | |
|
||||
s------- |
|
||||
|
||||
---->
|
||||
|
||||
|
||||
back view, 3x2 sectors:
|
||||
|
||||
------- ------- -------
|
||||
| | | |
|
||||
| 4 | 5 | 6 | ^
|
||||
| | | | |
|
||||
s-------s-------s------- |
|
||||
| | | |
|
||||
| 1 | 2 | 3 | ^
|
||||
| | | | |
|
||||
s-------s-------s------- | (nsect_z)
|
||||
|
||||
----> ----> ---->
|
||||
(nsect_x)
|
||||
|
||||
*/
|
||||
|
||||
#endif /* NAV_CUBE_H */
|
||||
Reference in New Issue
Block a user