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Re: [Paparazzi-devel] Circle and surveying questions

From: Pascal Brisset
Subject: Re: [Paparazzi-devel] Circle and surveying questions
Date: Tue, 19 Aug 2008 14:02:41 +0200
User-agent: Icedove (X11/20080724)

Hi Daniel,

note that you can define a "sector" as a polygon in the flight plan and you will get a C function to efficiently check if a point is inside or outside this sector (the code is currently limited to y-monotone polygons). The polygon is described as a clockwise list of waypoints.

   Example in

So you could copy the survey_rectangle code and only replace the "cross the south or north border" condition by a "cross the polygon border" condition implemented with the "InsideMySector()" function.


Daniel Morgan wrote:
So i am still trying to do a precise survey (we need to maximize amount covered) on a polygon (not a rectangle)... I had toyed with the idea of making a new survey sector function but this seems like it is going to be a huge pain in the ass (what do you think pascal (and others)?). So what i am thinking i will do is simply just do it by hand... I plan on simply doing a straight line between two way points then a half circle to line up for the next two and just repeat until finished. Now my question is how do i make it so the aircraft will only perform a half circle. I have seen this used in some other cases but am still a bit confused. If anyone else has any good ideas on this topic i am all ears.

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