/**
main navigation routine. This is called periodically evaluates the current
Position and stage and navigates accordingly.
Returns True until the survey is finished
**/
bool_t poly_survey_adv(void)
{
NavVerticalAutoThrottleMode(0.0);
NavVerticalAltitudeMode(psa_altitude, 0.0);
//entry circle around entry-center until the desired altitude is reached
if (psa_stage == ENTRY) {
nav_circle_XY(entry_center.x, entry_center.y, -psa_min_rad);
if (NavCourseCloseTo(segment_angle)
&& nav_approaching_xy(seg_start.x, seg_start.y, last_x, last_y, CARROT)
&& fabs(estimator_z - psa_altitude) <= 20) {
psa_stage = SEG;
nav_init_stage();
#ifdef DIGITAL_CAM
dc_survey(psa_shot_dist, seg_start.x - dir_vec.x*psa_shot_dist*0.5, seg_start.y - dir_vec.y*psa_shot_dist*0.5);
#endif
}
}
//fly the segment until seg_end is reached
if (psa_stage == SEG) {
nav_points(seg_start, seg_end);
//calculate all needed points for the next flyover
if (nav_approaching_xy(seg_end.x, seg_end.y, seg_start.x, seg_start.y, 0)) {
#ifdef DIGITAL_CAM
dc_stop();
#endif
VEC_CALC(seg_center1, seg_end, rad_vec, -);
ret_start.x = seg_end.x - 2*rad_vec.x;
ret_start.y = seg_end.y - 2*rad_vec.y;
//if we get no intersection the survey is finished
if (!get_two_intersects(&seg_start, &seg_end, vec_add(seg_start, sweep_vec), vec_add(seg_end, sweep_vec)))
return FALSE;
ret_end.x = seg_start.x - sweep_vec.x - 2*rad_vec.x;
ret_end.y = seg_start.y - sweep_vec.y - 2*rad_vec.y;
seg_center2.x = seg_start.x - 0.5*(2.0*rad_vec.x+sweep_vec.x);
seg_center2.y = seg_start.y - 0.5*(2.0*rad_vec.y+sweep_vec.y);
psa_stage = TURN1;
nav_init_stage();
}
/**
* main navigation routine.
* This is called periodically evaluates the current
* Position and stage and navigates accordingly.
*
* @returns TRUE until the survey is finished
*/
bool_t nav_survey_zamboni_run(void)
{
// retain altitude
NavVerticalAutoThrottleMode(0.0);
NavVerticalAltitudeMode(zs.altitude, 0.0);
//go from center of field to end of field - (before starting the syrvey)
if (zs.stage == Z_ENTRY) {
nav_route_xy(zs.wp_center.x, zs.wp_center.y, zs.seg_end.x, zs.seg_end.y);
if (nav_approaching_xy(zs.seg_end.x, zs.seg_end.y, zs.wp_center.x, zs.wp_center.y, CARROT)) {
zs.stage = Z_TURN1;
NavVerticalAutoThrottleMode(0.0);
nav_init_stage();
}
}
//Turn from stage to return
else if (zs.stage == Z_TURN1) {
nav_circle_XY(zs.turn_center1.x, zs.turn_center1.y, zs.turnradius1);
if (NavCourseCloseTo(zs.return_angle + zs.pre_leave_angle)){
// && nav_approaching_xy(zs.seg_end.x, zs.seg_end.y, zs.seg_start.x, zs.seg_start.y, CARROT
//calculate SEG-points for the next flyover
VECT2_ADD(zs.seg_start, zs.sweep_width);
VECT2_ADD(zs.seg_end, zs.sweep_width);
zs.stage = Z_RET;
nav_init_stage();
#ifdef DIGITAL_CAM
LINE_START_FUNCTION;
#endif
}
}
//fly the segment until seg_end is reached
else if (zs.stage == Z_RET) {
nav_route_xy(zs.ret_start.x, zs.ret_start.y, zs.ret_end.x, zs.ret_end.y);
if (nav_approaching_xy(zs.ret_end.x, zs.ret_end.y, zs.ret_start.x, zs.ret_start.y, 0)) {
zs.current_laps = zs.current_laps + 1;
#ifdef DIGITAL_CAM
//dc_stop();
LINE_STOP_FUNCTION;
#endif
zs.stage = Z_TURN2;
}
}
//turn from stage to return
else if (zs.stage == Z_TURN2) {
nav_circle_XY(zs.turn_center2.x, zs.turn_center2.y, zs.turnradius2);
if (NavCourseCloseTo(zs.flight_angle + zs.pre_leave_angle)) {
//zs.current_laps = zs.current_laps + 1;
zs.stage = Z_SEG;
nav_init_stage();
#ifdef DIGITAL_CAM
LINE_START_FUNCTION;
#endif
}
//return
} else if (zs.stage == Z_SEG) {
nav_route_xy(zs.seg_start.x, zs.seg_start.y, zs.seg_end.x, zs.seg_end.y);
if (nav_approaching_xy(zs.seg_end.x, zs.seg_end.y, zs.seg_start.x, zs.seg_start.y, 0)) {
// calculate the rest of the points for the next fly-over
VECT2_ADD(zs.ret_start, zs.sweep_width);
VECT2_ADD(zs.ret_end, zs.sweep_width);
zs.turn_center1.x = (zs.seg_end.x + zs.ret_start.x)/2;
zs.turn_center1.y = (zs.seg_end.y + zs.ret_start.y)/2;
zs.turn_center2.x = (zs.seg_start.x + zs.ret_end.x + zs.sweep_width.x) / 2;
zs.turn_center2.y = (zs.seg_start.y + zs.ret_end.y + zs.sweep_width.y) / 2;
zs.stage = Z_TURN1;
nav_init_stage();
#ifdef DIGITAL_CAM
//dc_stop();
LINE_STOP_FUNCTION;
#endif
}
}
if (zs.current_laps >= zs.total_laps) {
#ifdef DIGITAL_CAM
LINE_STOP_FUNCTION;
#endif
return FALSE;
}
else {
return TRUE;
}
}
/**
* main navigation routine. This is called periodically evaluates the current
* Position and stage and navigates accordingly.
* @returns True until the survey is finished
*/
bool nav_survey_polygon_run(void)
{
NavVerticalAutoThrottleMode(0.0);
NavVerticalAltitudeMode(survey.psa_altitude, 0.0);
//entry circle around entry-center until the desired altitude is reached
if (survey.stage == ENTRY) {
nav_circle_XY(survey.entry_center.x, survey.entry_center.y, -survey.psa_min_rad);
if (NavCourseCloseTo(survey.segment_angle)
&& nav_approaching_xy(survey.seg_start.x, survey.seg_start.y, last_x, last_y, CARROT)
&& fabs(stateGetPositionUtm_f()->alt - survey.psa_altitude) <= 20) {
survey.stage = SEG;
nav_init_stage();
#ifdef DIGITAL_CAM
dc_survey(survey.psa_shot_dist, survey.seg_start.x - survey.dir_vec.x * survey.psa_shot_dist * 0.5,
survey.seg_start.y - survey.dir_vec.y * survey.psa_shot_dist * 0.5);
#endif
}
}
//fly the segment until seg_end is reached
if (survey.stage == SEG) {
nav_points(survey.seg_start, survey.seg_end);
//calculate all needed points for the next flyover
if (nav_approaching_xy(survey.seg_end.x, survey.seg_end.y, survey.seg_start.x, survey.seg_start.y, 0)) {
#ifdef DIGITAL_CAM
dc_stop();
#endif
VECT2_DIFF(survey.seg_center1, survey.seg_end, survey.rad_vec);
survey.ret_start.x = survey.seg_end.x - 2 * survey.rad_vec.x;
survey.ret_start.y = survey.seg_end.y - 2 * survey.rad_vec.y;
//if we get no intersection the survey is finished
static struct FloatVect2 sum_start_sweep;
static struct FloatVect2 sum_end_sweep;
VECT2_SUM(sum_start_sweep, survey.seg_start, survey.sweep_vec);
VECT2_SUM(sum_end_sweep, survey.seg_end, survey.sweep_vec);
if (!get_two_intersects(&survey.seg_start, &survey.seg_end, sum_start_sweep, sum_end_sweep)) {
return false;
}
survey.ret_end.x = survey.seg_start.x - survey.sweep_vec.x - 2 * survey.rad_vec.x;
survey.ret_end.y = survey.seg_start.y - survey.sweep_vec.y - 2 * survey.rad_vec.y;
survey.seg_center2.x = survey.seg_start.x - 0.5 * (2.0 * survey.rad_vec.x + survey.sweep_vec.x);
survey.seg_center2.y = survey.seg_start.y - 0.5 * (2.0 * survey.rad_vec.y + survey.sweep_vec.y);
survey.stage = TURN1;
nav_init_stage();
}
}
//turn from stage to return
else if (survey.stage == TURN1) {
nav_circle_XY(survey.seg_center1.x, survey.seg_center1.y, -survey.psa_min_rad);
if (NavCourseCloseTo(survey.return_angle)) {
survey.stage = RET;
nav_init_stage();
}
//return
} else if (survey.stage == RET) {
nav_points(survey.ret_start, survey.ret_end);
if (nav_approaching_xy(survey.ret_end.x, survey.ret_end.y, survey.ret_start.x, survey.ret_start.y, 0)) {
survey.stage = TURN2;
nav_init_stage();
}
//turn from return to stage
} else if (survey.stage == TURN2) {
nav_circle_XY(survey.seg_center2.x, survey.seg_center2.y, -(2 * survey.psa_min_rad + survey.psa_sweep_width) * 0.5);
if (NavCourseCloseTo(survey.segment_angle)) {
survey.stage = SEG;
nav_init_stage();
#ifdef DIGITAL_CAM
dc_survey(survey.psa_shot_dist, survey.seg_start.x - survey.dir_vec.x * survey.psa_shot_dist * 0.5,
survey.seg_start.y - survey.dir_vec.y * survey.psa_shot_dist * 0.5);
#endif
}
}
return true;
}
void nav_survey_rectangle(uint8_t wp1, uint8_t wp2) {
static float survey_radius;
nav_survey_active = TRUE;
nav_survey_west = Min(WaypointX(wp1), WaypointX(wp2));
nav_survey_east = Max(WaypointX(wp1), WaypointX(wp2));
nav_survey_south = Min(WaypointY(wp1), WaypointY(wp2));
nav_survey_north = Max(WaypointY(wp1), WaypointY(wp2));
/* Update the current segment from corners' coordinates*/
if (SurveyGoingNorth()) {
survey_to.y = nav_survey_north;
survey_from.y = nav_survey_south;
} else if (SurveyGoingSouth()) {
survey_to.y = nav_survey_south;
survey_from.y = nav_survey_north;
} else if (SurveyGoingEast()) {
survey_to.x = nav_survey_east;
survey_from.x = nav_survey_west;
} else if (SurveyGoingWest()) {
survey_to.x = nav_survey_west;
survey_from.x = nav_survey_east;
}
if (! survey_uturn) { /* S-N, N-S, W-E or E-W straight route */
if ((estimator_y < nav_survey_north && SurveyGoingNorth()) ||
(estimator_y > nav_survey_south && SurveyGoingSouth()) ||
(estimator_x < nav_survey_east && SurveyGoingEast()) ||
(estimator_x > nav_survey_west && SurveyGoingWest())) {
/* Continue ... */
nav_route_xy(survey_from.x, survey_from.y, survey_to.x, survey_to.y);
} else {
if (survey_orientation == NS) {
/* North or South limit reached, prepare U-turn and next leg */
float x0 = survey_from.x; /* Current longitude */
if (x0+nav_survey_shift < nav_survey_west || x0+nav_survey_shift > nav_survey_east) {
x0 += nav_survey_shift / 2;
nav_survey_shift = -nav_survey_shift;
}
x0 = x0 + nav_survey_shift; /* Longitude of next leg */
survey_from.x = survey_to.x = x0;
/* Swap South and North extremities */
float tmp = survey_from.y;
survey_from.y = survey_to.y;
survey_to.y = tmp;
/** Do half a circle around WP 0 */
waypoints[0].x = x0 - nav_survey_shift/2.;
waypoints[0].y = survey_from.y;
/* Computes the right direction for the circle */
survey_radius = nav_survey_shift / 2.;
if (SurveyGoingNorth()) {
survey_radius = -survey_radius;
}
} else { /* (survey_orientation == WE) */
/* East or West limit reached, prepare U-turn and next leg */
/* There is a y0 declared in math.h (for ARM) !!! */
float my_y0 = survey_from.y; /* Current latitude */
if (my_y0+nav_survey_shift < nav_survey_south || my_y0+nav_survey_shift > nav_survey_north) {
my_y0 += nav_survey_shift / 2;
nav_survey_shift = -nav_survey_shift;
}
my_y0 = my_y0 + nav_survey_shift; /* Longitude of next leg */
survey_from.y = survey_to.y = my_y0;
/* Swap West and East extremities */
float tmp = survey_from.x;
survey_from.x = survey_to.x;
survey_to.x = tmp;
/** Do half a circle around WP 0 */
waypoints[0].x = survey_from.x;
waypoints[0].y = my_y0 - nav_survey_shift/2.;
/* Computes the right direction for the circle */
survey_radius = nav_survey_shift / 2.;
if (SurveyGoingWest()) {
survey_radius = -survey_radius;
}
}
nav_in_segment = FALSE;
survey_uturn = TRUE;
LINE_STOP_FUNCTION;
}
} else { /* U-turn */
if ((SurveyGoingNorth() && NavCourseCloseTo(0)) ||
(SurveyGoingSouth() && NavCourseCloseTo(180)) ||
(SurveyGoingEast() && NavCourseCloseTo(90)) ||
(SurveyGoingWest() && NavCourseCloseTo(270))) {
/* U-turn finished, back on a segment */
survey_uturn = FALSE;
nav_in_circle = FALSE;
LINE_START_FUNCTION;
} else {
NavCircleWaypoint(0, survey_radius);
}
}
NavVerticalAutoThrottleMode(0.); /* No pitch */
NavVerticalAltitudeMode(WaypointAlt(wp1), 0.); /* No preclimb */
}
