[fixedwing] convert nav_line to a module

conf/airframes/examples/microjet.xml

@@ -196,6 +196,7 @@
     <load name="openlog.xml"/>
     <load name="nav_survey_poly_adv.xml"/>
     <load name="nav_border_line.xml"/>
+    <load name="nav_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.makefile

@@ -9,6 +9,6 @@ $(TARGET).CFLAGS += -DNAV
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
 $(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_survey_rectangle.c
 
 

conf/firmwares/subsystems/fixedwing/navigation_extra.makefile

@@ -9,7 +9,7 @@ $(TARGET).CFLAGS += -DNAV
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
 $(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_survey_rectangle.c
 
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c

conf/flight_plans/EMAV2008.xml

@@ -3,7 +3,6 @@
 <flight_plan alt="140" ground_alt="55" lat0="52.523886" lon0="10.463764" max_dist_from_home="2500" name="Gifhorn-Wilsche EMAV08" qfu="-90" security_height="81">
   <header>
 #include "datalink.h"
-#include "subsystems/navigation/nav_line.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="16.9" y="-0.4"/>

conf/flight_plans/IS.xml

@@ -6,7 +6,6 @@
 #include "anemotaxis.h"
 #include "chemotaxis.h"
 #include "subsystems/navigation/discsurvey.h"
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/navigation/bomb.h"
 #include "datalink.h"
 </header>

conf/flight_plans/basic.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 </header>
   <waypoints>

conf/flight_plans/creidlitz.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="420" ground_alt="360" lat0="50.230060" lon0="10.990449" max_dist_from_home="1500" name="Flugplatz Steinruecken" security_height="25"  QFU="210">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 </header>
   <waypoints>

conf/flight_plans/grosslobke_demo.xml

@@ -3,7 +3,6 @@
 <flight_plan alt="170" ground_alt="68" lat0="52.26483" lon0="9.99394" max_dist_from_home="1500" name="Gross Lobke Demo" qfu="270" security_height="60">
   <header>
 #include "subsystems/navigation/bomb.h"
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 </header>
   <waypoints>

conf/flight_plans/hsif.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 </header>
   <waypoints>

conf/flight_plans/ingolfsskali.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="1000" ground_alt="840" lat0="65.007419" lon0="-18.895916" max_dist_from_home="4500" name="Ingolfsskali" qfu="0" security_height="160">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 </header>
   <waypoints>

conf/flight_plans/joystick.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 #include "firmwares/fixedwing/joystick.h"
 </header>

conf/flight_plans/kv_svalbard.xml

@@ -3,7 +3,6 @@
 <flight_plan alt="75" ground_alt="1" lat0="78.22157" lon0="15.679379" max_dist_from_home="4500" name="KV Svalbard" security_height="25">
 
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 </header>
   <waypoints>

conf/flight_plans/mav06.xml

@@ -1,7 +1,6 @@
 <flight_plan alt="100" ground_alt="59" lat0="30.6478" lon0="-86.3253" max_dist_from_home="1500" name="MAV06" qfu="90" security_height="25">
 <header>
 #include "subsystems/navigation/bomb.h"
-#include "subsystems/navigation/nav_line.h"
 </header>
   <waypoints>
     <waypoint alt="59." name="TARGET" x="85.1922610838" y="8.50236448925"/>

conf/flight_plans/mav08.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="240" ground_alt="170" lat0="27.0936" lon0="77.9145" max_dist_from_home="650" name="MAV08" security_height="25">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "datalink.h"
 </header>
   <waypoints>

conf/flight_plans/nav_modules.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 </header>
   <waypoints>

conf/flight_plans/nordlys.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="150" ground_alt="10" lat0="78.202961" lon0="15.8310" max_dist_from_home="3000" name="Nordlysstasjonen" qfu="270" security_height="60">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 </header>
   <waypoints>

conf/flight_plans/snav.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/navigation/snav.h"
 </header>

conf/flight_plans/tcas.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "subsystems/datalink/datalink.h"
 #include "tcas.h"
 </header>

conf/flight_plans/xsens_cachejunction.xml

@@ -2,7 +2,6 @@
 
 <flight_plan alt="1450" ground_alt="1350" lat0="41.820661" lon0="-111.987935" max_dist_from_home="1500" name="Basic" security_height="25">
   <header>
-#include "subsystems/navigation/nav_line.h"
 #include "datalink.h"
 </header>
   <waypoints>

conf/modules/nav_line.xml

@@ -0,0 +1,20 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nav_line" dir="nav">
+  <doc>
+    <description>
+       Fixedwing navigation along a line with nice U-turns.
+       <!--
+        <call fun="nav_line_init()"/>
+        <call fun="nav_line(WP_waypoint1_name, WP_waypoint1_name, nav_radius)"/>
+       -->
+
+    </description>
+  </doc>
+  <header>
+    <file name="nav_line.h"/>
+  </header>
+  <makefile>
+    <file name="nav_line.c"/>
+  </makefile>
+</module>