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Re: [Paparazzi-devel] Allowing variable grid argument in rectangle surve

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Allowing variable grid argument in rectangle survey
Date: Thu, 6 Feb 2020 17:25:41 +0100
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:68.0) Gecko/20100101 Thunderbird/68.4.1


Yes, of course, you can make a pull request for this functionality. The main drawback is that it will probably break some flight plans. This can be discussed on Github directly.


Le 05/02/2020 à 20:06, jburns11 a écrit :
I have edited the functionality for nav_survey_rotorcraft_rectangle_run to
accept a third argument (for a grid or sweep variable). I have also edited
the functionality to incorporate this third argument into the functionality
of the survey. Now when you periodically call the
nav_survey_rotorcraft_rectangle_run, the passed grid argument can
dynamically adjust the sweep width.

Normally if we wanted to change the sweep width, we would have to setup the
survey again, and re-enter from the beginning. Below is a picture of an
example. The first sweep is noticably larger than the second two sweeps.
This was done by switching to a flight_plan block containing only the
nav_survey_rotorcraft_rectangle_run with a new grid argument. I verified my
solution using both NS and WE orientations


I was thinking this is probably something worth having in the main branch,
since maybe other people could use this feature. Let me know if you think
this is worth a pull request.

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