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 */
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 */
}
