Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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guidance_OA.c File Reference

Guidance for the obstacle avoidance methods. More...

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Go to the source code of this file.

Macros

#define CMD_OF_SAT   1500
 
#define VISION_PHI_PGAIN   400
 
#define VISION_PHI_IGAIN   20
 
#define VISION_THETA_PGAIN   400
 
#define VISION_THETA_IGAIN   20
 
#define VISION_DESIRED_VX   0
 
#define VISION_DESIRED_VY   0
 

Functions

void guidance_h_module_init (void)
 Initialization of horizontal guidance module. More...
 
void guidance_h_module_enter (void)
 Horizontal guidance mode enter resets the errors and starts the controller. More...
 
void guidance_h_module_read_rc (void)
 Read the RC commands. More...
 
void guidance_h_module_run (bool in_flight)
 Main guidance loop. More...
 
void OA_update ()
 Update the controls based on a vision result. More...
 

Variables

struct opticflow_stab_t opticflow_stab
 
int8_t filter_flag = 0
 
int8_t repulsionforce_filter_flag = 0
 
oa_method OA_method_flag
 
int8_t opti_speed_flag = 1
 
float vref_max = 100
 
float ref_pitch = 0.0
 
float ref_roll = 0.0
 
float r_dot_new = 0.0
 
float desired_vx = 0.0
 
float desired_vy = 0.0
 
float speed_pot = 0.0
 
float yaw_diff = 0.0
 
float alpha_fil = 1.0
 
float heading_target = 0
 
float new_heading = 0
 
float v_desired = 0.0
 
int32_t yaw_rate = 0
 
float yaw_rate_write = 0
 
float yaw_ref_write = 0
 
int32_t keep_yaw_rate = 0
 
int32_t keep_turning = 0
 
float err_vx = 0
 
float err_vy = 0
 
float Total_Kan_x = 0
 
float Total_Kan_y = 0
 
struct NedCoor_f opti_speed_read
 
struct FloatVect3 Total_force = {0, 0, 0}
 

Detailed Description

Guidance for the obstacle avoidance methods.

Definition in file guidance_OA.c.

Macro Definition Documentation

#define CMD_OF_SAT   1500

Definition at line 41 of file guidance_OA.c.

Referenced by OA_update().

#define VISION_DESIRED_VX   0

Definition at line 65 of file guidance_OA.c.

#define VISION_DESIRED_VY   0

Definition at line 70 of file guidance_OA.c.

#define VISION_PHI_IGAIN   20

Definition at line 50 of file guidance_OA.c.

#define VISION_PHI_PGAIN   400

Definition at line 45 of file guidance_OA.c.

#define VISION_THETA_IGAIN   20

Definition at line 60 of file guidance_OA.c.

#define VISION_THETA_PGAIN   400

Definition at line 55 of file guidance_OA.c.

Function Documentation

void guidance_h_module_enter ( void  )

Horizontal guidance mode enter resets the errors and starts the controller.

Entering the horizontal module (user switched to module)

Definition at line 147 of file guidance_OA.c.

References opticflow_stab_t::cmd, ctrl_module_init(), opticflow_stab_t::err_vx_int, opticflow_stab_t::err_vy_int, Int32Eulers::phi, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

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void guidance_h_module_init ( void  )

Initialization of horizontal guidance module.

Definition at line 138 of file guidance_OA.c.

References ctrl_module_init().

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void guidance_h_module_run ( bool  in_flight)

Main guidance loop.

Parameters
[in]in_flightWhether we are in flight or not

Definition at line 175 of file guidance_OA.c.

References opticflow_stab_t::cmd, ctrl_module_run(), OA_update(), stabilization_attitude_run(), and stabilization_attitude_set_rpy_setpoint_i().

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Variable Documentation

float alpha_fil = 1.0

Definition at line 112 of file guidance_OA.c.

Referenced by CN_potential_velocity().

float desired_vx = 0.0

Definition at line 108 of file guidance_OA.c.

float desired_vy = 0.0

Definition at line 109 of file guidance_OA.c.

float err_vx = 0

Definition at line 123 of file guidance_OA.c.

Referenced by stabilization_opticflow_vel_cb().

float err_vy = 0

Definition at line 124 of file guidance_OA.c.

Referenced by stabilization_opticflow_vel_cb().

int8_t filter_flag = 0

Definition at line 93 of file guidance_OA.c.

float heading_target = 0

Definition at line 113 of file guidance_OA.c.

int32_t keep_turning = 0

Definition at line 121 of file guidance_OA.c.

int32_t keep_yaw_rate = 0

Definition at line 120 of file guidance_OA.c.

float new_heading = 0
oa_method OA_method_flag
Initial value:

Definition at line 96 of file guidance_OA.c.

Referenced by CN_calculate_target(), and serial_update().

int8_t opti_speed_flag = 1

Definition at line 98 of file guidance_OA.c.

struct NedCoor_f opti_speed_read

Definition at line 129 of file guidance_OA.c.

Referenced by OA_update().

struct opticflow_stab_t opticflow_stab
Initial value:
= {
.phi_pgain = VISION_PHI_PGAIN,
.phi_igain = VISION_PHI_IGAIN,
.theta_pgain = VISION_THETA_PGAIN,
.theta_igain = VISION_THETA_IGAIN,
.desired_vx = VISION_DESIRED_VX,
.desired_vy = VISION_DESIRED_VY
}
#define VISION_PHI_PGAIN
Definition: guidance_OA.c:45
#define VISION_DESIRED_VX
Definition: guidance_OA.c:65
#define VISION_DESIRED_VY
Definition: guidance_OA.c:70
#define VISION_PHI_IGAIN
Definition: guidance_OA.c:50
#define VISION_THETA_PGAIN
Definition: guidance_OA.c:55
#define VISION_THETA_IGAIN
Definition: guidance_OA.c:60

Definition at line 83 of file guidance_OA.c.

float r_dot_new = 0.0

Definition at line 107 of file guidance_OA.c.

Referenced by CN_potential_heading(), CN_potential_velocity(), and OA_update().

float ref_roll = 0.0
int8_t repulsionforce_filter_flag = 0

Definition at line 94 of file guidance_OA.c.

Referenced by CN_vector_escape_velocity(), and CN_vector_velocity().

float speed_pot = 0.0
struct FloatVect3 Total_force = {0, 0, 0}

Definition at line 130 of file guidance_OA.c.

float Total_Kan_x = 0

Definition at line 126 of file guidance_OA.c.

Referenced by OA_update().

float Total_Kan_y = 0

Definition at line 127 of file guidance_OA.c.

Referenced by OA_update().

float v_desired = 0.0

Definition at line 115 of file guidance_OA.c.

float vref_max = 100
float yaw_diff = 0.0

Definition at line 111 of file guidance_OA.c.

int32_t yaw_rate = 0

Definition at line 117 of file guidance_OA.c.

Referenced by OA_update().

float yaw_rate_write = 0

Definition at line 118 of file guidance_OA.c.

float yaw_ref_write = 0

Definition at line 119 of file guidance_OA.c.