Re: [Paparazzi-devel] Circle and surveying questions

[cory barton]

I think you can do what you want just by making a series of parallel
line segments with waypoints. I think this flightplan does what you
want:

<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="75" ground_alt="0" lat0="37.17004" lon0="-76.50871"
max_dist_from_home="1500" name="Test" security_height="25">
  <header>
#include "nav_line.h"
#include "datalink.h"
</header>
  <waypoints>
    <waypoint name="HOME" x="0.0" y="-0.0"/>
    <waypoint name="STDBY" x="49.5" y="100.1"/>
    <waypoint alt="120.0" name="1" x="3.5" y="272.8"/>
    <waypoint alt="120.0" name="2" x="-342.2" y="623.4"/>
    <waypoint alt="120.0" name="6" x="16.4" y="831.1"/>
    <waypoint alt="120.0" name="5" x="336.9" y="508.5"/>
    <waypoint alt="120.0" name="3" x="-161.0" y="734.7"/>
    <waypoint alt="120.0" name="4" x="165.1" y="396.1"/>
  </waypoints>
  <exceptions/>
  <blocks>
    <block name="Wait GPS">
      <set value="1" var="kill_throttle"/>
      <while cond="!GpsFixValid()"/>
    </block>
    <block name="Geo init">
      <while cond="LessThan(NavBlockTime(), 10)"/>
      <call fun="NavSetGroundReferenceHere()"/>
    </block>
    <block name="Holding point">
      <set value="1" var="kill_throttle"/>
      <attitude roll="0" throttle="0" vmode="throttle"/>
    </block>
    <block name="Takeoff" strip_button="Takeoff (wp CLIMB)"
strip_icon="takeoff.png">
      <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="estimator_flight_time"/>
      <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="6"/>
    </block>
    <block name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>
    <block name="Figure 8 around wp 1" strip_button="Figure 8 (wp
1-2)" strip_icon="eight.png">
      <eight center="1" radius="nav_radius" turn_around="2"/>
    </block>
    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
      <oval p1="1" p2="2" radius="nav_radius"/>
    </block>
    <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
      <exception cond="datalink_time > 22" deroute="Standby"/>
      <call fun="nav_line_init()"/>
      <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
    </block>
    <block name="Route" strip_button="Route">
      <exception cond="datalink_time > 22" deroute="Standby"/>
      <go wp="1"/>
      <go wp="2"/>
      <go wp="3"/>
      <go wp="4"/>
      <go wp="5"/>
      <go wp="6"/>
      <deroute block="Standby"/>
    </block>
  </blocks>
</flight_plan>

On Mon, Aug 18, 2008 at 2:27 PM, Daniel Morgan
<address@hidden> wrote:
> So i am still trying to do a precise survey (we need to maximize amount
> covered) on a polygon (not a rectangle)... I had toyed with the idea of
> making a new survey sector function but this seems like it is going to be a
> huge pain in the ass (what do you think pascal (and others)?). So what i am
> thinking i will do is simply just do it by hand... I plan on simply doing a
> straight line between two way points then a half circle to line up for the
> next two and just repeat until finished.  Now my question is how do i make
> it so the aircraft will only perform a half circle. I have seen this used in
> some other cases but am still a bit confused. If anyone else has any good
> ideas on this topic i am all ears.
>
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