bool_t nav_anemotaxis( uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume ) {
if (chemo_sensor) {
last_plume_was_here();
waypoints[plume].x = stateGetPositionEnu_f()->x;
waypoints[plume].y = stateGetPositionEnu_f()->y;
// DownlinkSendWp(plume);
}
struct FloatVect2* wind = stateGetHorizontalWindspeed_f();
float wind_dir = atan2(wind->x, wind->y) + M_PI;
/** Not null even if wind_east=wind_north=0 */
float upwind_x = cos(wind_dir);
float upwind_y = sin(wind_dir);
switch (status) {
case UTURN:
NavCircleWaypoint(c, DEFAULT_CIRCLE_RADIUS*sign);
if (NavQdrCloseTo(DegOfRad(M_PI_2-wind_dir))) {
float crosswind_x = - upwind_y;
float crosswind_y = upwind_x;
waypoints[c1].x = waypoints[c].x + DEFAULT_CIRCLE_RADIUS*upwind_x;
waypoints[c1].y = waypoints[c].y + DEFAULT_CIRCLE_RADIUS*upwind_y;
float width = Max(2*ScalarProduct(upwind_x, upwind_y, stateGetPositionEnu_f()->x-last_plume.x, stateGetPositionEnu_f()->y-last_plume.y), DEFAULT_CIRCLE_RADIUS);
waypoints[c2].x = waypoints[c1].x - width*crosswind_x*sign;
waypoints[c2].y = waypoints[c1].y - width*crosswind_y*sign;
// DownlinkSendWp(c1);
// DownlinkSendWp(c2);
status = CROSSWIND;
nav_init_stage();
}
break;
case CROSSWIND:
NavSegment(c1, c2);
if (NavApproaching(c2, CARROT)) {
waypoints[c].x = waypoints[c2].x + DEFAULT_CIRCLE_RADIUS*upwind_x;
waypoints[c].y = waypoints[c2].y + DEFAULT_CIRCLE_RADIUS*upwind_y;
// DownlinkSendWp(c);
sign = -sign;
status = UTURN;
nav_init_stage();
}
if (chemo_sensor) {
waypoints[c].x = stateGetPositionEnu_f()->x + DEFAULT_CIRCLE_RADIUS*upwind_x;
waypoints[c].y = stateGetPositionEnu_f()->y + DEFAULT_CIRCLE_RADIUS*upwind_y;
// DownlinkSendWp(c);
sign = -sign;
status = UTURN;
nav_init_stage();
}
break;
}
chemo_sensor = 0;
return TRUE;
}
bool_t nav_line(uint8_t l1, uint8_t l2, float radius) {
float alt = waypoints[l1].a;
waypoints[l2].a = alt;
float l2_l1_x = waypoints[l1].x - waypoints[l2].x;
float l2_l1_y = waypoints[l1].y - waypoints[l2].y;
float d = sqrt(l2_l1_x*l2_l1_x+l2_l1_y*l2_l1_y);
/* Unit vector from l1 to l2 */
float u_x = l2_l1_x / d;
float u_y = l2_l1_y / d;
/* The half circle centers and the other leg */
struct point l2_c1 = { waypoints[l1].x + radius * u_y,
waypoints[l1].y + radius * -u_x,
alt };
struct point l2_c2 = { waypoints[l1].x + 1.732*radius * u_x,
waypoints[l1].y + 1.732*radius * u_y,
alt };
struct point l2_c3 = { waypoints[l1].x + radius * -u_y,
waypoints[l1].y + radius * u_x,
alt };
struct point l1_c1 = { waypoints[l2].x + radius * -u_y,
waypoints[l2].y + radius * u_x,
alt };
struct point l1_c2 = { waypoints[l2].x +1.732*radius * -u_x,
waypoints[l2].y + 1.732*radius * -u_y,
alt };
struct point l1_c3 = { waypoints[l2].x + radius * u_y,
waypoints[l2].y + radius * -u_x,
alt };
float qdr_out_2_1 = M_PI/3. - atan2(u_y, u_x);
float qdr_out_2_2 = -M_PI/3. - atan2(u_y, u_x);
float qdr_out_2_3 = M_PI - atan2(u_y, u_x);
switch (line_status) {
/* LR12, LQC21, LTC2, LQC22, LR21 LQC12, LTC1, LQC11 */
case LR12:
nav_route_xy(waypoints[l2].x, waypoints[l2].y, waypoints[l1].x, waypoints[l1].y);
if (NavApproaching(l1, CARROT)) {
line_status = LQC21;
nav_init_stage();
}
break;
case LQC21:
nav_circle_XY(l2_c1.x, l2_c1.y, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_1)-10)) {
line_status = LTC2;
nav_init_stage();
}
break;
case LTC2:
nav_circle_XY(l2_c2.x, l2_c2.y, -radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_2)+10)) {
line_status = LQC22;
nav_init_stage();
}
break;
case LQC22:
nav_circle_XY(l2_c3.x, l2_c3.y, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_3)-10)) {
line_status = LR21;
nav_init_stage();
}
break;
case LR21:
nav_route_xy(waypoints[l1].x, waypoints[l1].y,waypoints[l2].x, waypoints[l2].y);
if (NavApproaching(l2, CARROT)) {
line_status = LQC12;
nav_init_stage();
}
break;
case LQC12:
nav_circle_XY(l1_c1.x, l1_c1.y, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_1 + M_PI)-10)) {
line_status = LTC1;
nav_init_stage();
}
break;
case LTC1:
nav_circle_XY(l1_c2.x, l1_c2.y, -radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_2 + M_PI)+10)) {
line_status = LQC11;
nav_init_stage();
}
break;
case LQC11:
nav_circle_XY(l1_c3.x, l1_c3.y, radius);
if (NavQdrCloseTo(DegOfRad(qdr_out_2_3 + M_PI)-10)) {
line_status = LR12;
nav_init_stage();
}
}
return TRUE;
}
