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OSAM-UAV Team
37 lines
1.1 KiB
C
37 lines
1.1 KiB
C
#ifndef OSAMNav_H
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#define OSAMNav_H
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#include "std.h"
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#include "nav.h"
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#include "estimator.h"
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#include "autopilot.h"
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#include "flight_plan.h"
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struct Point2D {float x; float y;};
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struct Line {float m;float b;float x;};
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extern bool_t FlowerNav(void);
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extern bool_t InitializeFlower(uint8_t CenterWP, uint8_t EdgeWP);
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extern bool_t InitializeBungeeTakeoff(uint8_t BungeeWP);
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extern bool_t BungeeTakeoff(void);
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#define PolygonSize 10
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#define MaxFloat 1000000000
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#define MinFloat -1000000000
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extern bool_t InitializePolygonSurvey(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
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extern bool_t PolygonSurvey(void);
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extern uint16_t PolySurveySweepNum;
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extern uint16_t PolySurveySweepBackNum;
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void TranslateAndRotateFromWorld(struct Point2D *p, float Zrot, float transX, float transY);
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void RotateAndTranslateToWorld(struct Point2D *p, float Zrot, float transX, float transY);
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void FindInterceptOfTwoLines(float *x, float *y, struct Line L1, struct Line L2);
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float EvaluateLineForY(float x, struct Line L);
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float EvaluateLineForX(float y, struct Line L);
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float DistanceEquation(struct Point2D p1,struct Point2D p2);
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#endif
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