|Subject:||Re: [Paparazzi-devel] Interest for a new survey pattern? (Zamboni-survey)|
|Date:||Tue, 6 Nov 2012 15:01:23 +0100|
I have a favourite flight-pattern which I use for aerial surveys. Two variants of the pattern can be seen here:
The idea behind this pattern is that it provides the greatest turn-radies possible, and therefore also very smooth and easy to follow flight characteristics, (in particular when narrow flight-lines). The pattern is sometimes called a "Zamboni-pattern", named after the pattern resurfacing machines follows at ice-hockey rinks.
I have just written a small program which takes 3 points (3 corners of a rectangle) and distance between flight lines as input, and based on this calculates all waypoints, circle-centres, turn-direction, etc. for the whole pattern.
I think the most elegant way of implementing it into paparazzi would be to write a routine/subsystem, (like with the other surveying routines).
I do however not have any experience with writing routines for paparazzi, or how to communicate with the navigation routines. So, I would like to hear if others might be interested in a routine like this / would like to help porting the code into paparazzi.
The code is simple algebra, short (sub 100 lines) and very well documented.
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