Paparazzi UAS  v5.15_devel-124-g3c411d6-dirty
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ctc.h File Reference

Collective Tracking Control. More...

#include "std.h"
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Data Structures

struct  ctc_con
 

Functions

void ctc_init (void)
 
bool collective_tracking_vehicle (void)
 
bool collective_tracking_waypoint (uint8_t wp)
 
bool collective_tracking_point (float x, float y)
 
void collective_tracking_control (void)
 
void ctc_send_info_to_nei (void)
 
void parse_ctc_RegTable (void)
 
void parse_ctc_CleanTable (void)
 
void parse_ctc_NeiInfoTable (void)
 
void parse_ctc_TargetInfo (void)
 

Variables

ctc_con ctc_control
 
int16_t tableNei [][6]
 
float ctc_error_to_target
 

Detailed Description

Collective Tracking Control.

Definition in file ctc.h.


Data Structure Documentation

struct ctc_con

Definition at line 33 of file ctc.h.

Data Fields
float alpha
float k1
float k2
float omega
float p_centroid_x
float p_centroid_y
float px
float py
float ref_px
float ref_py
float target_px
float target_py
float target_vx
float target_vy
uint16_t time_broad
uint16_t timeout
float v_centroid_x
float v_centroid_y
float vx
float vy

Function Documentation

bool collective_tracking_point ( float  x,
float  y 
)

Definition at line 133 of file ctc.c.

References collective_tracking_control(), ctc_con::target_px, ctc_con::target_py, ctc_con::target_vx, and ctc_con::target_vy.

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bool collective_tracking_vehicle ( void  )
bool collective_tracking_waypoint ( uint8_t  wp)

Definition at line 121 of file ctc.c.

References collective_tracking_control(), ctc_con::target_px, ctc_con::target_py, ctc_con::target_vx, ctc_con::target_vy, waypoints, point::x, and point::y.

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void ctc_init ( void  )

Definition at line 97 of file ctc.c.

References CTC_MAX_AC, DefaultPeriodic, register_periodic_telemetry(), send_ctc(), send_ctc_control(), and tableNei.

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void ctc_send_info_to_nei ( void  )

Referenced by collective_tracking_control().

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void parse_ctc_CleanTable ( void  )

Referenced by collective_tracking_control().

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void parse_ctc_NeiInfoTable ( void  )

Referenced by collective_tracking_control().

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void parse_ctc_RegTable ( void  )

Referenced by collective_tracking_control().

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void parse_ctc_TargetInfo ( void  )

Referenced by collective_tracking_control().

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Variable Documentation

ctc_con ctc_control

Definition at line 77 of file ctc.c.

Referenced by send_ctc_control().

float ctc_error_to_target
int16_t tableNei[][6]

Definition at line 81 of file ctc.c.