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

[Jeremy Reinertsen]

Thank's Pascal. Works perfectly!


----- Original Message ----- 
From: "Pascal Brisset" <address@hidden>
To: <address@hidden>
Sent: Monday, March 29, 2010 7:16 PM
Subject: Re: [Paparazzi-devel] Flight plan - circle the closer of two 
waypoints?


> 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
>
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel


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