Re: [Paparazzi-devel] Flight plan - circle the closer of two waypoints?

[Pascal Brisset]

Hi,

for example, from basic.xml, by moving the MOB waypoint to the closest 
among 1 and 2:

In the <header> section:

#define DistanceSquareToWP(_wp) { DistanceSquare(estimator_x, 
estimator_y, WaypointX(_wp), WaypointY(_wp)); }
#define ChooseClosestWP(wp_1, wp_2, wp_closer) ({ uint8_t tmp = 
LessThan(DistanceSquareToWP(wp_1), DistanceSquareToWP(wp_2)) ? wp_1 : 
wp_2; waypoints[wp_closer] = waypoints[tmp]; FALSE; })

and a new block:

  <block name="Goto closer (1 or 2)">
     <call fun="ChooseClosestWP(WP_1, WP_2, WP_MOB)"/>
     <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
     <circle radius="nav_radius" wp="MOB"/>
   </block>

--Pascal

Jeremy Reinertsen wrote:
> Hi folks,
>  
> I am currently learning how to write flight plans and would like to 
> create a block which will cause the aircraft to travel to the closer 
> of two waypoints and circle it. Can anyone suggest some sample flight 
> plan code to determine which waypoint is the closest?
>  
> Cheers
>  
> Jeremy
>