approach_moving_target.h File Reference

#include "std.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	Amt

Functions
void	approach_moving_target_init (void)
void	follow_diagonal_approach (void)
	Generates a velocity reference from a diagonal approach path.
void	approach_moving_target_enable (uint8_t wp_id)
void	approach_moving_target_set_low_pass_freq (float filter_freq)

Variables
struct Amt	amt

Detailed Description

Author

Ewoud Smeur e.j.j.nosp@m..sme.nosp@m.ur@tu.nosp@m.delf.nosp@m.t.nl Approach a moving target (e.g. ship)

Definition in file approach_moving_target.h.

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Data Structure Documentation

Amt

struct Amt

Definition at line 33 of file approach_moving_target.h.

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Data Fields
float	cutoff_freq_filters_hz
float	distance
int32_t	enabled_time
float	err_slowdown_gain
float	pos_gain
float	psi_ref
struct FloatVect3	rel_unit_vec
float	relvel_gain
float	slope_ref
float	speed
float	speed_gain
uint8_t	wp_id

Function Documentation

approach_moving_target_enable()

void approach_moving_target_enable ( uint8_t  wp_id )

extern

Definition at line 161 of file approach_moving_target.c.

References amt, Amt::enabled_time, get_sys_time_msec(), and Amt::wp_id.

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approach_moving_target_init()

void approach_moving_target_init ( void  )

extern

Definition at line 119 of file approach_moving_target.c.

References amt, approach_moving_target_set_low_pass_freq(), Amt::cutoff_freq_filters_hz, DefaultPeriodic, foo, register_periodic_telemetry(), and send_approach_moving_target().

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approach_moving_target_set_low_pass_freq()

void approach_moving_target_set_low_pass_freq ( float  filter_freq )

extern

Definition at line 127 of file approach_moving_target.c.

References amt, Amt::cutoff_freq_filters_hz, foo, init_butterworth_2_low_pass(), target_heading_filt, target_pos_filt, and target_vel_filt.

Referenced by approach_moving_target_init().

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follow_diagonal_approach()

void follow_diagonal_approach ( void  )

extern

Generates a velocity reference from a diagonal approach path.

Definition at line 171 of file approach_moving_target.c.

References amt, amt_telem, RotorcraftNavigation::climb_vspeed, AmtTelem::des_pos, AmtTelem::des_vel, RotorcraftNavigation::descend_vspeed, Amt::distance, Amt::enabled_time, Amt::err_slowdown_gain, FLOAT_ANGLE_NORMALIZE, float_vect3_bound_in_3d(), foo, get_sys_time_msec(), nav, NAVIGATION_FREQUENCY, SecondOrderLowPass::o, Amt::pos_gain, Amt::psi_ref, Amt::rel_unit_vec, Amt::relvel_gain, Amt::slope_ref, Amt::speed, Amt::speed_gain, stateGetAirspeed_f(), stateGetPositionNed_f(), target_get_pos(), target_get_vel(), target_heading_filt, target_pos_filt, target_vel_filt, update_butterworth_2_low_pass(), update_waypoint(), VECT3_COPY, VECT3_DIFF, VECT3_NORM2, VECT3_SMUL, VECT3_SUM, VEL_SP_FCR_ID, Amt::wp_id, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

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Variable Documentation

amt

struct Amt amt

extern

Definition at line 79 of file approach_moving_target.c.

Referenced by amt22_get_position(), amt22_get_turns(), amt22_init(), amt22_periodic(), amt22_read(), amt22_thd(), approach_moving_target_enable(), approach_moving_target_init(), approach_moving_target_set_low_pass_freq(), follow_diagonal_approach(), and send_approach_moving_target().