guidance_OA.h File Reference

Guidance for the obstacle avoidance methods. More...

#include "std.h"
#include "modules/computer_vision/lib/v4l/v4l2.h"
#include "math/pprz_algebra_int.h"

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Data Structures
struct	opticflow_stab_t

Enumerations
enum	oa_method {   NO_OBSTACLE_AVOIDANCE , PINGPONG , POT_HEADING , POT_VEL ,   VECTOR , SAFETYZONE , LOGICBASED }

Functions
void	guidance_module_enter (void)
	Entering the module (user switched to module) More...
void	guidance_module_run (bool in_flight)
	Main guidance loop. More...
void	OA_update (void)
	Update the controls based on a vision result. More...

Variables
struct opticflow_stab_t	opticflow_stab
int8_t	filter_flag
int8_t	repulsionforce_filter_flag
oa_method	OA_method_flag
int8_t	opti_speed_flag
float	vref_max
float	ref_pitch
float	ref_roll
float	r_dot_new
float	speed_pot

Detailed Description

Guidance for the obstacle avoidance methods.

Definition in file guidance_OA.h.

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Data Structure Documentation

opticflow_stab_t

struct opticflow_stab_t

Definition at line 37 of file guidance_opticflow_hover.h.

Collaboration diagram for opticflow_stab_t:

Data Fields
struct Int32Eulers	cmd	The commands that are send to the hover loop.
float	desired_vx	The desired velocity in the x direction (cm/s)
float	desired_vy	The desired velocity in the y direction (cm/s)
float	err_vx_int	The integrated velocity error in x direction (m/s)
float	err_vy_int	The integrated velocity error in y direction (m/s)
int32_t	phi_igain	The roll I gain on the err_vx_int.
int32_t	phi_pgain	The roll P gain on the err_vx.
int32_t	theta_igain	The pitch I gain on the err_vy_int.
int32_t	theta_pgain	The pitch P gain on the err_vy.

Enumeration Type Documentation

oa_method

enum oa_method

Enumerator
NO_OBSTACLE_AVOIDANCE
PINGPONG
POT_HEADING
POT_VEL
VECTOR
SAFETYZONE
LOGICBASED

Definition at line 52 of file guidance_OA.h.

Function Documentation

guidance_module_enter()

void guidance_module_enter

(

void

)

Entering the module (user switched to module)

Entering the module (user switched to module)

Definition at line 77 of file ctrl_module_innerloop_demo.c.

References autopilot_in_flight(), Stabilization::cmd, ctrl_module_demo_struct::cmd, opticflow_stab_t::cmd, ctrl, ctrl_module_init(), ctrl_windtunnel, des_inputs, opticflow_stab_t::err_vx_int, opticflow_stab_t::err_vy_int, guidance_h_mode_changed(), GUIDANCE_H_MODE_HOVER, guidance_v_mode_changed(), GUIDANCE_V_MODE_HOVER, MAX_PPRZ, new_heading, OpticalFlowLanding::nominal_thrust, OpticalFlowHoverControl::nominal_value, of_hover_ctrl_Z, of_hover_ref_pos, of_landing_ctrl, ofh_sp_eu, opticflow_stab, Int32Eulers::phi, Int32Eulers::psi, radio_control, ctrl_windtunnel_struct::rc_pitch, ctrl_windtunnel_struct::rc_roll, ctrl_module_demo_struct::rc_sp, ctrl_windtunnel_struct::rc_throttle, ctrl_windtunnel_struct::rc_yaw, reset_all_vars(), reset_horizontal_vars(), reset_vertical_vars(), stabilization, stabilization_attitude_read_rc_setpoint_eulers(), stateGetNedToBodyEulers_i(), stateGetPositionNed_i(), VerticalCtrlDemo::sum_err, Int32Eulers::theta, DesiredInputs::thrust, thrust_set, v_ctrl, and VECT2_COPY.

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guidance_module_run()

void guidance_module_run

(

bool

in_flight

)

Main guidance loop.

Parameters

[in]

in_flight

Whether we are in flight or not

Definition at line 82 of file ctrl_module_innerloop_demo.c.

References AP_MODE_NAV, autopilot_set_mode(), Electrical::bat_low, Stabilization::cmd, opticflow_stab_t::cmd, ctrl_module_demo, ctrl_module_run(), ctrl_windtunnel, des_inputs, electrical, guidance_h_run(), guidance_v_run(), horizontal_ctrl_module_run(), OA_update(), ofh_sp_eu, opticflow_stab, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, ctrl_windtunnel_struct::rc_pitch, ctrl_windtunnel_struct::rc_roll, ctrl_module_demo_struct::rc_t, ctrl_windtunnel_struct::rc_throttle, ctrl_module_demo_struct::rc_x, ctrl_module_demo_struct::rc_y, ctrl_windtunnel_struct::rc_yaw, ctrl_module_demo_struct::rc_z, StabilizationSetpoint::sp, ThrustSetpoint::sp, stab_sp_from_eulers_i(), stabilization, stabilization_attitude_run(), stabilization_run(), th_sp_from_thrust_i(), DesiredInputs::thrust, THRUST_AXIS_Z, RadioControl::values, and vertical_ctrl_module_run().

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OA_update()

void OA_update

(

void

)

Update the controls based on a vision result.

Parameters

[in]

*result

The opticflow calculation result used for control

Definition at line 177 of file guidance_OA.c.

References alpha_fil, ANGLE_BFP_OF_REAL, opticflow_stab_t::cmd, CMD_OF_SAT, opticflow_stab_t::desired_vx, opticflow_stab_t::desired_vy, err_vx, opticflow_stab_t::err_vx_int, err_vy, opticflow_stab_t::err_vy_int, INT32_ANGLE_NORMALIZE, LOGICBASED, new_heading, NO_OBSTACLE_AVOIDANCE, OA_method_flag, opti_speed_flag, opti_speed_read, opticflow_stab, Int32Eulers::phi, opticflow_stab_t::phi_igain, opticflow_stab_t::phi_pgain, PINGPONG, POT_HEADING, FloatEulers::psi, Int32Eulers::psi, r_dot_new, ref_pitch, ref_roll, SAFETYZONE, speed_pot, stateGetNedToBodyEulers_f(), stateGetNedToBodyEulers_i(), stateGetSpeedNed_f(), Int32Eulers::theta, opticflow_stab_t::theta_igain, opticflow_stab_t::theta_pgain, Total_Kan_x, Total_Kan_y, vref_max, FloatVect2::x, NedCoor_f::x, FloatVect2::y, NedCoor_f::y, and yaw_rate.

Referenced by guidance_module_run().

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Variable Documentation

filter_flag

int8_t filter_flag

extern

Definition at line 93 of file guidance_OA.c.

OA_method_flag

oa_method OA_method_flag

extern

Definition at line 96 of file guidance_OA.c.

Referenced by CN_calculate_target(), OA_update(), and serial_update().

opti_speed_flag

int8_t opti_speed_flag

extern

Definition at line 98 of file guidance_OA.c.

Referenced by OA_update().

opticflow_stab

struct opticflow_stab_t opticflow_stab

extern

Definition at line 87 of file guidance_opticflow_hover.c.

Referenced by guidance_module_enter(), guidance_module_run(), OA_update(), and stabilization_opticflow_vel_cb().

r_dot_new

float r_dot_new

extern

Definition at line 107 of file guidance_OA.c.

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

ref_pitch

float ref_pitch

extern

Definition at line 103 of file guidance_OA.c.

ref_roll

float ref_roll

extern

Definition at line 104 of file guidance_OA.c.

repulsionforce_filter_flag

int8_t repulsionforce_filter_flag

extern

Definition at line 94 of file guidance_OA.c.

Referenced by CN_vector_escape_velocity(), and CN_vector_velocity().

speed_pot

float speed_pot

extern

Definition at line 110 of file guidance_OA.c.

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

vref_max

float vref_max

extern

Definition at line 99 of file guidance_OA.c.

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