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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
494e3f3ad9
When adding a test node to a makefile section, with required compilation flags, include and other options, all the files (not arch dependent files) can be compiled with a TAP compatible program, included in the standard tests of the CI servers. Not all module's XML files are converted, but a large part of the most important parts are already covered. More will be added later. The number of tested airframes (full compilation of all targets) have been reduced to speed the CI compile time but still covers the relevant architecture and boards. The main benefit is that the overall coverage is already better than before as previous test aircraft were compiling more or less the same part of the airborne code, while this new mechanism is more efficient to test modules not included in any config.
39 lines
1.5 KiB
XML
39 lines
1.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_survey_polygon" dir="nav">
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<doc>
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<description>
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Survey a polygon with a fixedwing.
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From Uni Stuttgart.
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In the flight plan, the survey blocks call init and run functions:
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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):
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- first_wp the first Waypoint of the polygon (WP_waypoint_name)
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- size the number of points that make up the polygon
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- angle angle in which to do the flyovers
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- sweep_width distance between the sweeps
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- shot_dist distance between the shots
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- min_rad minimal radius when navigating
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- altitude the altitude that must be reached before the flyover starts
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2. Run the survey with nav_survey_polygon_run() for employing the carrot guidance algorithm
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<!--
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Block example:
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@verbatim
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<block name="Poly Survey" strip_button="Poly Survey">
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<call_once fun="nav_survey_polygon_setup(first_wp, size, angle, sweep_width, shot_dist, min_rad, altitude)"/>
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<call fun="nav_survey_polygon_run()"/>
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</block>
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@endverbatim
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-->
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</description>
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</doc>
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<header>
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<file name="nav_survey_polygon.h"/>
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</header>
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<makefile target="ap|sim|nps">
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<file name="nav_survey_polygon.c"/>
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<test firmware="fixedwing">
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<define name="CTRL_TYPE_H" value="firmwares/fixedwing/guidance/guidance_v.h" type="string"/>
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</test>
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</makefile>
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</module>
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