Paparazzi UAS  v5.15_devel-111-g8fb4629
Paparazzi is a free software Unmanned Aircraft System.
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guidance_OA.h
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1 /*
2  * Copyright (C) 2015 Roland + Clint
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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21  */
22 
26 #ifndef GUIDANCE_OA
27 #define GUIDANCE_OA
28 
29 #include "std.h"
31 //#include "inter_thread_data.h"
32 #include "math/pprz_algebra_int.h"
33 
34 /* The opticflow stabilization */
35 struct opticflow_stab_t {
40  float desired_vx;
41  float desired_vy;
42 
43  float err_vx_int;
44  float err_vy_int;
45  struct Int32Eulers cmd;
46 };
47 extern struct opticflow_stab_t opticflow_stab;
48 
49 extern int8_t filter_flag;
51 
53 extern oa_method OA_method_flag; //0 =>No OA only opticflow 1=pingpong 2=>pot_heading 3=>pot_vel 4=>vector 5=>safetyzone
54 
55 extern int8_t opti_speed_flag;
56 extern float vref_max;
57 
58 //variables form optic flow module
59 extern float ref_pitch;
60 extern float ref_roll;
61 extern float r_dot_new;
62 extern float speed_pot;
63 
64 // Implement own Horizontal loops
65 extern void guidance_h_module_init(void);
66 extern void guidance_h_module_enter(void);
67 extern void guidance_h_module_read_rc(void);
68 extern void guidance_h_module_run(bool in_flight);
69 
70 // Update the stabilization commands based on a vision result
71 extern void OA_update(void);
72 
73 #endif
void guidance_h_module_enter(void)
Entering the horizontal module (user switched to module)
void guidance_h_module_run(bool in_flight)
Main guidance loop.
int8_t opti_speed_flag
Definition: guidance_OA.c:98
float ref_pitch
Definition: guidance_OA.c:103
void guidance_h_module_init(void)
Initialization of horizontal guidance module.
Capture images from a V4L2 device (Video for Linux 2)
float ref_roll
Definition: guidance_OA.c:104
void guidance_h_module_read_rc(void)
Read the RC commands.
int8_t filter_flag
Definition: guidance_OA.c:93
float r_dot_new
Definition: guidance_OA.c:107
float err_vx_int
The integrated velocity error in x direction (m/s)
float desired_vx
The desired velocity in the x direction (cm/s)
int32_t phi_pgain
The roll P gain on the err_vx.
int32_t theta_pgain
The pitch P gain on the err_vy.
int32_t theta_igain
The pitch I gain on the err_vy_int.
float speed_pot
Definition: guidance_OA.c:110
euler angles
int8_t repulsionforce_filter_flag
Definition: guidance_OA.c:94
struct Int32Eulers cmd
The commands that are send to the hover loop.
int32_t phi_igain
The roll I gain on the err_vx_int.
signed long int32_t
Definition: types.h:19
struct opticflow_stab_t opticflow_stab
float desired_vy
The desired velocity in the y direction (cm/s)
oa_method
Definition: guidance_OA.h:52
signed char int8_t
Definition: types.h:15
float err_vy_int
The integrated velocity error in y direction (m/s)
oa_method OA_method_flag
Definition: guidance_OA.c:96
void OA_update(void)
Update the controls based on a vision result.
Definition: guidance_OA.c:189
Paparazzi fixed point algebra.
float vref_max
Definition: guidance_OA.c:99