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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
4ae40567ed
- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
44 lines
2.3 KiB
XML
44 lines
2.3 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_survey_poly_osam" dir="nav" task="control">
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<doc>
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<description>
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Polygon survey from OSAM.
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You can use:
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* nav_survey_poly_osam_setup function for static definitions or
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* nav_survey_poly_osam_setup_towards for a more flexible setup
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</description>
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<define name="POLY_OSAM_POLYGONSIZE" value="10" description="max waypoints usable in polygon survey"/>
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<define name="POLY_OSAM_ENTRY_RADIUS" value="0" description="entry circle radius in meters. If 0 radius equal to half sweep"/>
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<define name="POLY_OSAM_DEFAULT_SIZE" value="5" description="default number of waypoints/corners used in polygon survey. Can be changed by telemetry"/>
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<define name="POLY_OSAM_DEFAULT_SWEEP" value="120" description="default distance in m between lines. Can be changed by telemetry"/>
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<define name="POLY_OSAM_MIN_RADIUS" value="30" description="min radius used in U-turns"/>
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<define name="POLY_OSAM_FIRST_SWEEP_DISTANCE" value="4" description="distante between the polygon border and first line.If 0 the distance well be equal to half sweep"/>
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<define name="NAV_SURVEY_POLY_OSAM_DYNAMIC" value="FALSE|TRUE" description="Set to true to allow changing sweep distance mid polygon survey"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="P_Survey">
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<dl_setting min="0" max="20" step="1" var="Poly_Size" type="uint8_t" shortname="Size" module="modules/nav/nav_survey_poly_osam"/>
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<dl_setting min="0" max="500" step="1" var="Poly_Sweep" type="float" shortname="Sweep" module="modules/nav/nav_survey_poly_osam"/>
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<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="Half_Sweep_Enabled" type="bool" shortname="Half Sweep" module="modules/nav/nav_survey_poly_osam"/>
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<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="Reset_Sweep" type="bool" shortname="Reset Sweep" module="modules/nav/nav_survey_poly_osam" handler="ResetSweepNumber"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>@navigation</depends>
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</dep>
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<header>
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<file name="nav_survey_poly_osam.h"/>
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</header>
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<makefile target="ap|sim|nps">
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<file name="nav_survey_poly_osam.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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