[modules] fix nav_spiral

no generic variable/enum names in headers... Also add it to nav_modules flight plan and test it with microjet_lisa_m
paparazzi · Aug 27, 2014 · b5470cb · b5470cb
1 parent bf44219
commit b5470cb
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Showing 4 changed files with 16 additions and 11 deletions.
diff --git a/conf/airframes/examples/microjet_lisa_m.xml b/conf/airframes/examples/microjet_lisa_m.xml
@@ -59,6 +59,7 @@
     <load name="nav_survey_poly_osam.xml"/>
     <load name="nav_survey_zamboni.xml"/>
     <load name="nav_vertical_raster.xml"/>
+    <load name="nav_spiral.xml"/>
 
     <load name="digital_cam_servo.xml">
       <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />

diff --git a/conf/flight_plans/nav_modules.xml b/conf/flight_plans/nav_modules.xml
@@ -118,6 +118,10 @@
       <call fun="nav_vertical_raster_setup()"/>
       <call fun="nav_vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
     </block>
+    <block name="Spiral">
+      <call fun="nav_spiral_setup(WP_S1, WP_S2, 30, 10, 3)"/>
+      <call fun="nav_spiral_run()"/>
+    </block>
     <!--====================================================================================-->
 
     <block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">

diff --git a/sw/airborne/modules/nav/nav_spiral.c b/sw/airborne/modules/nav/nav_spiral.c
@@ -79,7 +79,7 @@ bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start,
   nav_spiral.fly_from.y = stateGetPositionEnu_f()->y;
 
   if(nav_spiral.dist_from_center > nav_spiral.radius)
-    nav_spiral.status = Outside;
+    nav_spiral.status = SpiralOutside;
   return FALSE;
 }
 
@@ -96,7 +96,7 @@ bool_t nav_spiral_run(void)
 
   switch(nav_spiral.status)
   {
-    case Outside:
+    case SpiralOutside:
       //flys until center of the helix is reached an start helix
       nav_route_xy(nav_spiral.fly_from.x, nav_spiral.fly_from.y, nav_spiral.center.x, nav_spiral.center.y);
       // center reached?
@@ -105,24 +105,24 @@ bool_t nav_spiral_run(void)
 #ifdef DIGITAL_CAM
         dc_send_command(DC_SHOOT);
 #endif
-        nav_spiral.status = StartCircle;
+        nav_spiral.status = SpiralStartCircle;
       }
       break;
-    case StartCircle:
+    case SpiralStartCircle:
       // Starts helix
       // storage of current coordinates
-      // calculation needed, State switch to Circle
+      // calculation needed, State switch to SpiralCircle
       nav_circle_XY(nav_spiral.center.y, nav_spiral.center.y, nav_spiral.radius_start);
       if(nav_spiral.dist_from_center >= nav_spiral.radius_start){
         VECT2_COPY(nav_spiral.last_circle, pos_enu);
-        nav_spiral.status = Circle;
+        nav_spiral.status = SpiralCircle;
         // Start helix
 #ifdef DIGITAL_CAM
         dc_Circle(360/nav_spiral.segments);
 #endif
       }
       break;
-    case Circle: {
+    case SpiralCircle: {
       nav_circle_XY(nav_spiral.center.x, nav_spiral.center.y, nav_spiral.radius_start);
       // Trigonometrische Berechnung des bereits geflogenen Winkels alpha
       // equation:
@@ -136,11 +136,11 @@ bool_t nav_spiral_run(void)
       CircleAlpha = (2.0 * asin (DistanceStartEstim / (2 * nav_spiral.radius_start)));
       if (CircleAlpha >= nav_spiral.alpha_limit) {
         VECT2_COPY(nav_spiral.last_circle, pos_enu);
-        nav_spiral.status = IncSpiral;
+        nav_spiral.status = SpiralInc;
       }
       break;
     }
-    case IncSpiral:
+    case SpiralInc:
       // increasing circle radius as long as it is smaller than max helix radius
       if(nav_spiral.radius_start + nav_spiral.radius_increment < nav_spiral.radius)
       {
@@ -160,7 +160,7 @@ bool_t nav_spiral_run(void)
         dc_stop();
 #endif
       }
-      nav_spiral.status = Circle;
+      nav_spiral.status = SpiralCircle;
       break;
     default:
       break;

diff --git a/sw/airborne/modules/nav/nav_spiral.h b/sw/airborne/modules/nav/nav_spiral.h
@@ -32,7 +32,7 @@
 #include "std.h"
 #include "math/pprz_algebra_float.h"
 
-enum SpiralStatus { Outside, StartCircle, Circle, IncSpiral };
+enum SpiralStatus { SpiralOutside, SpiralStartCircle, SpiralCircle, SpiralInc };
 
 struct NavSpiral {
   struct FloatVect3 trans_current;