/** Navigation function along a path */ static inline bool_t mission_nav_path(struct _mission_element *el) { if (el->element.mission_path.nb == 0) { return FALSE; // nothing to do } if (el->element.mission_path.path_idx == 0) { //first wp of path el->element.mission_wp.wp.wp_i = el->element.mission_path.path.path_i[0]; if (!mission_nav_wp(el)) { el->element.mission_path.path_idx++; } } else if (el->element.mission_path.path_idx < el->element.mission_path.nb) { //standart wp of path struct EnuCoor_i *from_wp = &(el->element.mission_path.path.path_i[(el->element.mission_path.path_idx) - 1]); struct EnuCoor_i *to_wp = &(el->element.mission_path.path.path_i[el->element.mission_path.path_idx]); //Check proximity and wait for t seconds in proximity circle if desired if (nav_approaching_from(to_wp, from_wp, CARROT)) { last_mission_wp = *to_wp; if (el->duration > 0.) { if (nav_check_wp_time(to_wp, el->duration)) { el->element.mission_path.path_idx++; } } else { el->element.mission_path.path_idx++; } } //Route Between from-to horizontal_mode = HORIZONTAL_MODE_ROUTE; nav_route(from_wp, to_wp); NavVerticalAutoThrottleMode(RadOfDeg(0.0)); NavVerticalAltitudeMode(POS_FLOAT_OF_BFP(from_wp->z), 0.); } else { return FALSE; } //end of path return TRUE; }
/** Navigation function to a single waypoint */ static inline bool_t mission_nav_wp(struct _mission_element *el) { struct EnuCoor_i *target_wp = &(el->element.mission_wp.wp.wp_i); //Check proximity and wait for 'duration' seconds in proximity circle if desired if (nav_approaching_from(target_wp, NULL, CARROT)) { last_mission_wp = *target_wp; if (el->duration > 0.) { if (nav_check_wp_time(target_wp, el->duration)) { return FALSE; } } else { return FALSE; } } //Go to Mission Waypoint horizontal_mode = HORIZONTAL_MODE_WAYPOINT; VECT3_COPY(navigation_target, *target_wp); NavVerticalAutoThrottleMode(RadOfDeg(0.000000)); NavVerticalAltitudeMode(POS_FLOAT_OF_BFP(target_wp->z), 0.); return TRUE; }
/** Navigation function along a segment */ static inline bool_t mission_nav_segment(struct _mission_element *el) { struct EnuCoor_i *from_wp = &(el->element.mission_segment.from.from_i); struct EnuCoor_i *to_wp = &(el->element.mission_segment.to.to_i); //Check proximity and wait for 'duration' seconds in proximity circle if desired if (nav_approaching_from(to_wp, from_wp, CARROT)) { last_mission_wp = *to_wp; if (el->duration > 0.) { if (nav_check_wp_time(to_wp, el->duration)) { return FALSE; } } else { return FALSE; } } //Route Between from-to horizontal_mode = HORIZONTAL_MODE_ROUTE; nav_route(from_wp, to_wp); NavVerticalAutoThrottleMode(RadOfDeg(0.0)); NavVerticalAltitudeMode(POS_FLOAT_OF_BFP(to_wp->z), 0.); return TRUE; }
bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) { static bool_t is_last_half = FALSE; static float survey_radius; nav_survey_active = TRUE; /* entry scan */ // wait for start position and altitude be reached if (!nav_survey_rectangle_active && ((!nav_approaching_from(&survey_from_i, NULL, 0)) || (fabsf(stateGetPositionEnu_f()->z - waypoints[wp1].enu_f.z)) > 1.)) { } else { if (!nav_survey_rectangle_active) { nav_survey_rectangle_active = TRUE; LINE_START_FUNCTION; } 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 you like to use position croos instead of approaching uncoment this line if ((stateGetPositionEnu_f()->y < nav_survey_north && SurveyGoingNorth()) || (stateGetPositionEnu_f()->y > nav_survey_south && SurveyGoingSouth()) || (stateGetPositionEnu_f()->x < nav_survey_east && SurveyGoingEast()) || (stateGetPositionEnu_f()->x > nav_survey_west && SurveyGoingWest())) { */ /* Continue ... */ ENU_BFP_OF_REAL(survey_to_i, survey_to); if (!nav_approaching_from(&survey_to_i, NULL, 0)) { ENU_BFP_OF_REAL(survey_from_i, survey_from); horizontal_mode = HORIZONTAL_MODE_ROUTE; nav_route(&survey_from_i, &survey_to_i); } else { if (survey_orientation == NS) { /* North or South limit reached, prepare 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)) { // not room for full sweep if (((x0 + (nav_survey_shift / 2)) < nav_survey_west) || ((x0 + (nav_survey_shift / 2)) > nav_survey_east)) { //not room for half sweep if (is_last_half) {// was last sweep half? nav_survey_shift = -nav_survey_shift; if (interleave) { survey_radius = nav_survey_shift; }else { survey_radius = nav_survey_shift /2.; } is_last_half = FALSE; } else { // last sweep not half nav_survey_shift = -nav_survey_shift; if (interleave) { survey_radius = nav_survey_shift /2.; }else{ survey_radius = nav_survey_shift ; } } rectangle_survey_sweep_num ++; } else { //room for half sweep after survey_radius = nav_survey_shift / 2.; is_last_half = TRUE; } } else {// room for full sweep after survey_radius = nav_survey_shift; } x0 = x0 + survey_radius; /* 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].enu_f.x = x0; waypoints[0].enu_f.y = survey_from.y; /* Computes the right direction */ if (SurveyGoingEast()) { survey_radius = -survey_radius; } } else { /* (survey_orientation == WE) */ /* East or West limit reached, prepare 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) { // not room for full sweep if (((my_y0 + (nav_survey_shift / 2)) < nav_survey_south) || ((my_y0 + (nav_survey_shift / 2)) > nav_survey_north)) { //not room for half sweep if (is_last_half) {// was last sweep half? nav_survey_shift = -nav_survey_shift; if (interleave) { survey_radius = nav_survey_shift; }else { survey_radius = nav_survey_shift /2.; } is_last_half = FALSE; } else { // last sweep not half nav_survey_shift = -nav_survey_shift; if (interleave) { survey_radius = nav_survey_shift /2.; }else{ survey_radius = nav_survey_shift ; } } rectangle_survey_sweep_num ++; } else { //room for half sweep after survey_radius = nav_survey_shift / 2.; is_last_half = TRUE; } } else {// room for full sweep after survey_radius = nav_survey_shift; } my_y0 = my_y0 + survey_radius; /* latitude 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].enu_f.x = survey_from.x; waypoints[0].enu_f.y = my_y0; /* Computes the right direction */ if (SurveyGoingNorth()) { survey_radius = -survey_radius; } } nav_in_segment = FALSE; survey_uturn = TRUE; LINE_STOP_FUNCTION; #ifdef DIGITAL_CAM float temp; if (survey_orientation == NS) { temp = fabsf(nav_survey_north - nav_survey_south) / dc_distance_interval; } else{ temp = fabsf(nav_survey_west - nav_survey_east) / dc_distance_interval; } double inteiro; double fract = modf (temp , &inteiro); if (fract > .5) { dc_send_command(DC_SHOOT); //if last shot is more than shot_distance/2 from the corner take a picture in the corner before go to the next sweep } #endif } } else { /* START turn */ static struct EnuCoor_f temp_f; if (survey_orientation == WE) { temp_f.x = waypoints[0].enu_f.x; temp_f.y = waypoints[0].enu_f.y - survey_radius; } else { temp_f.y = waypoints[0].enu_f.y; temp_f.x = waypoints[0].enu_f.x - survey_radius; } //detect when segment has done /* if you like to use position croos instead of approaching uncoment this line if ( (stateGetPositionEnu_f()->y > waypoints[0].enu_f.y && ((survey_orientation == WE) && (temp_f.y < waypoints[0].enu_f.y)) )|| (stateGetPositionEnu_f()->y < waypoints[0].enu_f.y && ((survey_orientation == WE) && (temp_f.y > waypoints[0].enu_f.y)) )|| (stateGetPositionEnu_f()->x < waypoints[0].enu_f.x && ((survey_orientation == NS) && (temp_f.x > waypoints[0].enu_f.x)) )|| (stateGetPositionEnu_f()->x > waypoints[0].enu_f.x && ((survey_orientation == NS) && (temp_f.x < waypoints[0].enu_f.x)) ) ) { */ if (survey_orientation == WE) { ENU_BFP_OF_REAL(survey_from_i, temp_f); ENU_BFP_OF_REAL(survey_to_i, waypoints[0].enu_f); } else { ENU_BFP_OF_REAL(survey_from_i, temp_f); ENU_BFP_OF_REAL(survey_to_i, waypoints[0].enu_f); } if (nav_approaching_from(&survey_to_i, NULL, 0)) { survey_uturn = FALSE; nav_in_circle = FALSE; LINE_START_FUNCTION; } else { if (survey_orientation == WE) { ENU_BFP_OF_REAL(survey_from_i, temp_f); ENU_BFP_OF_REAL(survey_to_i, waypoints[0].enu_f); } else { ENU_BFP_OF_REAL(survey_from_i, temp_f); ENU_BFP_OF_REAL(survey_to_i, waypoints[0].enu_f); } horizontal_mode = HORIZONTAL_MODE_ROUTE; nav_route(&survey_from_i, &survey_to_i); } } /* END turn */ } /* END entry scan */ return TRUE; }// /* END survey_retangle */