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Gautier Hattenberger
42 lines
1.6 KiB
XML
42 lines
1.6 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="nav_survey_polygon" dir="nav" task="control">
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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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<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_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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