guidance_h_ref.h File Reference

Reference generation for horizontal guidance. More...

#include "inttypes.h"
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"

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Data Structures
struct	GuidanceHRef

Macros
#define	GUIDANCE_H_REF_MAX_SPEED   5.
	Default speed saturation. More...
#define	GUIDANCE_H_REF_MAX_ACCEL   5.66
	Accel saturation. More...
#define	GH_POS_REF_FRAC   37
	fixedpoint representation: Q26.37 will give a range of 67e3 km and a resolution of 1.5e-11 m. More...

Functions
void	gh_ref_init (void)
void	gh_set_ref (struct Int32Vect2 pos, struct FloatVect2 speed, struct FloatVect2 accel)
void	gh_update_ref_from_pos_sp (struct Int32Vect2 pos_sp)
void	gh_update_ref_from_speed_sp (struct FloatVect2 speed_sp)
void	gh_update_ref_from_accel_sp (struct FloatVect2 accel_sp)
float	gh_set_max_speed (float max_speed)
	Set a new maximum speed for waypoint navigation. More...
float	gh_set_tau (float tau)
float	gh_set_omega (float omega)
float	gh_set_zeta (float zeta)

Variables
float	gh_max_speed
	Current maximum speed for waypoint navigation. More...
struct GuidanceHRef	gh_ref

Detailed Description

Reference generation for horizontal guidance.

Definition in file guidance_h_ref.h.

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Data Structure Documentation

GuidanceHRef

struct GuidanceHRef

Definition at line 60 of file guidance_h_ref.h.

Collaboration diagram for GuidanceHRef:

Data Fields
struct FloatVect2	accel	Reference model acceleration. in meters/sec2 (output)
float	dt	Integration timestep.
float	inv_tau
float	max_speed	Current maximum speed for waypoint navigation. Defaults to GUIDANCE_H_REF_MAX_SPEED
float	omega	second order model natural frequency
float	omega_2
struct Int64Vect2	pos	Reference model position. in meters with fixedpoint representation: Q37.26
struct FloatVect2	speed	Reference model speed. in meters/sec accuracy 0.0000076 , range 16384m/s
float	tau	first order time constant
float	zeta	second order model damping
float	zeta_omega

Macro Definition Documentation

GH_POS_REF_FRAC

#define GH_POS_REF_FRAC   37

fixedpoint representation: Q26.37 will give a range of 67e3 km and a resolution of 1.5e-11 m.

At a rate of 500Hz, a ref speed of 7.3e-9 m/s could still update the position.

Definition at line 58 of file guidance_h_ref.h.

GUIDANCE_H_REF_MAX_ACCEL

#define GUIDANCE_H_REF_MAX_ACCEL   5.66

Accel saturation.

tanf(RadOfDeg(30.))*9.81 = 5.66

Definition at line 51 of file guidance_h_ref.h.

GUIDANCE_H_REF_MAX_SPEED

#define GUIDANCE_H_REF_MAX_SPEED   5.

Default speed saturation.

Definition at line 39 of file guidance_h_ref.h.

Function Documentation

gh_ref_init()

void gh_ref_init

(

void

)

Definition at line 51 of file guidance_h_ref.c.

References GuidanceHRef::dt, gh_ref, gh_set_max_speed(), gh_set_tau(), GUIDANCE_H_REF_MAX_SPEED, GUIDANCE_H_REF_OMEGA, GUIDANCE_H_REF_TAU, GUIDANCE_H_REF_ZETA, GuidanceHRef::omega, GuidanceHRef::omega_2, GuidanceHRef::zeta, and GuidanceHRef::zeta_omega.

Referenced by guidance_h_init().

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gh_set_max_speed()

float gh_set_max_speed

(

float

max_speed

)

Set a new maximum speed for waypoint navigation.

Parameters

max_speed

speed saturation in m/s

Returns

new maximum speed

Definition at line 63 of file guidance_h_ref.c.

References gh_ref, GuidanceHRef::max_speed, and Min.

Referenced by gh_ref_init(), and guidance_h_SetMaxSpeed().

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gh_set_omega()

float gh_set_omega

(

float

omega

)

Definition at line 78 of file guidance_h_ref.c.

References gh_ref, GuidanceHRef::omega, GuidanceHRef::omega_2, GuidanceHRef::zeta, and GuidanceHRef::zeta_omega.

Referenced by guidance_h_SetOmega().

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gh_set_ref()

void gh_set_ref	(	struct Int32Vect2	pos,
		struct FloatVect2	speed,
		struct FloatVect2	accel
	)

Definition at line 95 of file guidance_h_ref.c.

References GuidanceHRef::accel, GH_POS_REF_FRAC, gh_ref, INT32_POS_FRAC, GuidanceHRef::pos, GuidanceHRef::speed, VECT2_COPY, Int32Vect2::x, Int64Vect2::x, Int32Vect2::y, and Int64Vect2::y.

Referenced by reset_guidance_reference_from_current_position().

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gh_set_tau()

float gh_set_tau

(

float

tau

)

Definition at line 70 of file guidance_h_ref.c.

References gh_ref, GuidanceHRef::inv_tau, and GuidanceHRef::tau.

Referenced by gh_ref_init().

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gh_set_zeta()

float gh_set_zeta

(

float

zeta

)

Definition at line 87 of file guidance_h_ref.c.

References gh_ref, GuidanceHRef::omega, GuidanceHRef::zeta, and GuidanceHRef::zeta_omega.

Referenced by guidance_h_SetZeta().

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gh_update_ref_from_accel_sp()

void gh_update_ref_from_accel_sp

(

struct FloatVect2

accel_sp

)

Definition at line 170 of file guidance_h_ref.c.

References GuidanceHRef::accel, GuidanceHRef::dt, GH_POS_REF_FRAC, gh_ref, gh_saturate_accel(), LBFP_OF_REAL, GuidanceHRef::pos, GuidanceHRef::speed, VECT2_ADD, VECT2_COPY, VECT2_SMUL, FloatVect2::x, Int64Vect2::x, FloatVect2::y, and Int64Vect2::y.

Referenced by guidance_h_update_reference().

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gh_update_ref_from_pos_sp()

void gh_update_ref_from_pos_sp

(

struct Int32Vect2

pos_sp

)

Definition at line 105 of file guidance_h_ref.c.

References GuidanceHRef::accel, GuidanceHRef::dt, GH_POS_REF_FRAC, gh_ref, gh_saturate_accel(), gh_saturate_speed(), INT32_POS_FRAC, LBFP_OF_REAL, GuidanceHRef::omega, GuidanceHRef::pos, POS_FLOAT_OF_BFP, GuidanceHRef::speed, VECT2_ADD, VECT2_COPY, VECT2_DIFF, VECT2_SMUL, FloatVect2::x, Int32Vect2::x, Int64Vect2::x, FloatVect2::y, Int32Vect2::y, Int64Vect2::y, GuidanceHRef::zeta, and GuidanceHRef::zeta_omega.

Referenced by guidance_h_update_reference().

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gh_update_ref_from_speed_sp()

void gh_update_ref_from_speed_sp

(

struct FloatVect2

speed_sp

)

Definition at line 143 of file guidance_h_ref.c.

References GuidanceHRef::accel, GuidanceHRef::dt, GH_POS_REF_FRAC, gh_ref, gh_saturate_accel(), GuidanceHRef::inv_tau, LBFP_OF_REAL, GuidanceHRef::pos, GuidanceHRef::speed, speed_sp, VECT2_ADD, VECT2_COPY, VECT2_DIFF, VECT2_SMUL, FloatVect2::x, Int64Vect2::x, FloatVect2::y, and Int64Vect2::y.

Referenced by guidance_h_update_reference().

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Variable Documentation

gh_max_speed

float gh_max_speed

extern

Current maximum speed for waypoint navigation.

Defaults to GUIDANCE_H_REF_MAX_SPEED

gh_ref

struct GuidanceHRef gh_ref

extern

Definition at line 1 of file guidance_h_ref.c.

Referenced by gh_ref_init(), gh_saturate_speed(), gh_set_max_speed(), gh_set_omega(), gh_set_ref(), gh_set_tau(), gh_set_zeta(), gh_update_ref_from_accel_sp(), gh_update_ref_from_pos_sp(), gh_update_ref_from_speed_sp(), and guidance_h_update_reference().