/* shoot on distance */
uint8_t dc_distance(float interval) {
dc_autoshoot = DC_AUTOSHOOT_DISTANCE;
dc_gps_count = 0;
dc_distance_interval = interval;
last_shot_pos.x = 0;
last_shot_pos.y = 0;
dc_info();
return 0;
}
/* shoot on circle */
uint8_t dc_circle(float interval, float start) {
dc_autoshoot = DC_AUTOSHOOT_CIRCLE;
dc_gps_count = 0;
dc_circle_interval = fmodf(fmaxf(interval, 1.), 360.);
if(start == DC_IGNORE) {
start = DegOfRad(stateGetNedToBodyEulers_f()->psi);
}
dc_circle_start_angle = fmodf(start, 360.);
if (start < 0.)
start += 360.;
//dc_circle_last_block = floorf(dc_circle_start_angle/dc_circle_interval);
dc_circle_last_block = 0;
dc_circle_max_blocks = floorf(360./dc_circle_interval);
dc_info();
return 0;
}
/* shoot on survey */
uint8_t dc_survey(float interval, float x, float y) {
dc_autoshoot = DC_AUTOSHOOT_SURVEY;
dc_gps_count = 0;
dc_gps_dist = interval;
if (x == DC_IGNORE && y == DC_IGNORE) {
dc_gps_x = estimator_x;
dc_gps_y = estimator_y;
} else if (y == DC_IGNORE) {
dc_gps_x = waypoints[(uint8_t)x].x;
dc_gps_y = waypoints[(uint8_t)x].y;
} else {
dc_gps_x = x;
dc_gps_y = y;
}
dc_gps_next_dist = 0;
dc_info();
return 0;
}
/* shoot on survey */
uint8_t dc_survey(float interval, float x, float y) {
dc_autoshoot = DC_AUTOSHOOT_SURVEY;
dc_gps_count = 0;
dc_survey_interval = interval;
if (x == DC_IGNORE && y == DC_IGNORE) {
dc_gps_x = stateGetPositionEnu_f()->x;
dc_gps_y = stateGetPositionEnu_f()->y;
} else if (y == DC_IGNORE) {
uint8_t wp = (uint8_t)x;
dc_gps_x = WaypointX(wp);
dc_gps_y = WaypointY(wp);
} else {
dc_gps_x = x;
dc_gps_y = y;
}
dc_gps_next_dist = 0;
dc_info();
return 0;
}
uint8_t dc_stop(void) {
dc_autoshoot = DC_AUTOSHOOT_STOP;
dc_info();
return 0;
}