Merge pull request #3021 from paparazzi/survey_hybrid-integration

Survey hybrid

conf/modules/digital_cam.xml

@@ -53,6 +53,7 @@
 
   <dep>
     <conflicts>digital_cam_i2c,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
+    <provides>digital_cam</provides>
   </dep>
 
   <header>

conf/modules/digital_cam_i2c.xml

@@ -16,6 +16,7 @@
   </doc>
   <dep>
     <conflicts>digital_cam,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
+    <provides>digital_cam</provides>
   </dep>
   <header>
     <file name="atmega_i2c_cam_ctrl.h"/>

conf/modules/digital_cam_servo.xml

@@ -19,6 +19,7 @@
 
   <dep>
     <conflicts>digital_cam,digital_cam_i2c,digital_cam_uart,digital_cam_video</conflicts>
+    <provides>digital_cam</provides>
   </dep>
 
   <header>

conf/modules/digital_cam_shoot_rc.xml

@@ -13,6 +13,7 @@
   </doc>
   <dep>
     <depends>digital_cam|digital_cam_servo|digital_cam_uart|digital_cam_i2c|digital_cam_video</depends>
+    <provides>digital_cam</provides>
   </dep>
   <header>
     <file name="dc_shoot_rc.h"/>

conf/modules/digital_cam_uart.xml

@@ -55,6 +55,7 @@
   </settings>
   <dep>
     <conflicts>digital_cam,digital_cam_servo,digital_cam_i2c</conflicts>
+    <provides>digital_cam</provides>
   </dep>
   <header>
     <file name="uart_cam_ctrl.h"/>

conf/modules/digital_cam_video.xml

@@ -37,6 +37,7 @@
   <dep>
     <depends>video_capture</depends>
     <conflicts>digital_cam,digital_cam_servo,digital_cam_i2c,digital_cam_uart</conflicts>
+    <provides>digital_cam</provides>
   </dep>
 
   <header>

conf/modules/nav_survey_hybrid.xml

@@ -0,0 +1,51 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nav_survey_hybrid" dir="nav" task="control">
+  <doc>
+    <description>
+      Polygon survey for hybrid aircraft.
+
+      Based on poly_osam algorithm.
+      Compatible with generic rotorcraft.
+
+      Support mission mode with custom elements:
+      - points in local NED: SRVHL orientation sweep_distance radius height p1x p1y p2x p2y p3x p3y [p4x p4y]
+      - points in global LLA: SRVHG orientation sweep_distance radius height p1lat p1lon p2lat p2lon p3lat p3lon [p4lat p4lon]
+      - orientation is in degrees
+      - sweep_distance in meters
+      - radius can be: negative, automatically set to sweep/2; zero, not turning on circles; positive, fixed radius
+      - height in meters above reference point
+      - the polygon in mission mode can have either 3 or 4 points.
+    </description>
+    <section name="SURVEY_HYBRID" prefix="SURVEY_HYBRID_">
+      <define name="MAX_POLYGON_SIZE" value="20" description="max waypoints usable in polygon survey"/>
+      <define name="HALF_SWEEP_ENABLED" value="TRUE|FALSE" description="interleave sweep lines when sweeping back"/>
+      <define name="APPROACHING_TIME" value="3." description="end of segment anticipation time"/>
+      <define name="MAX_SWEEP" value="0" description="max number of sweep lines (0 for unlimited)"/>
+      <define name="MAX_SWEEP_BACK" value="0" description="max number of sweep back, e.g. changing direction (0 for unlimited)"/>
+      <define name="ENTRY_DISTANCE" value="10." description="distance from entry point (default: half sweep distance)"/>
+    </section>
+  </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="Survey Hybrid">
+        <dl_setting min="0" max="1" step="1" var="survey_hybrid.half_sweep_enabled" type="uint8" shortname="half_sweep" values="FALSE|TRUE"/>
+        <dl_setting min="0" max="50" step="1" var="survey_hybrid.sweep_nb_max" type="uint16" shortname="nb_max"/>
+        <dl_setting min="0" max="50" step="1" var="survey_hybrid.sweep_back_nb_max" type="uint16" shortname="back_nb_max"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <dep>
+    <depends>@navigation</depends>
+    <recommends>@mission,@digital_cam</recommends>
+  </dep>
+  <header>
+    <file name="nav_survey_hybrid.h"/>
+  </header>
+  <makefile target="ap|nps">
+    <file name="nav_survey_hybrid.c"/>
+    <test firmware="rotorcraft">
+      <define name="USE_MISSION"/>
+    </test>
+  </makefile>
+</module>