nav_survey_poly_osam.h

/*
 * Copyright (C) 2008-2013 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

/**
 * @file modules/nav/nav_survey_poly_osam.h
 *
 */

#ifndef NAV_SURVEY_POLY_OSAM_H
#define NAV_SURVEY_POLY_OSAM_H

#include "std.h"

/**
 * Setup polygon survey.
 * @param FirstWP      first waypoint/corner of the polygon
 * @param Size         number of waypoints/corners used to define the polygon
 * @param Sweep        distance between scan lines
 * @param Orientation  angle of scan lines in degrees (CCW, east)
 */
extern bool_t nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);

/**
 * Setup polygon survey with sweep orientation towards a waypoint.
 * Computes the sweep orientation angle from the line FirstWP-SecondWP.
 * @param FirstWp   first waypoint/corner of the polygon
 * @param Size      number of waypoints/corners used to define the polygon
 * @param Sweep     distance between scan lines
 * @param SecondWp  second waypoint towards which the sweep orientation is computed
 */
extern bool_t nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP);

/** Run polygon survey */
extern bool_t nav_survey_poly_osam_run(void);

extern uint16_t PolySurveySweepNum;
extern uint16_t PolySurveySweepBackNum;

#endif