guidance_opticflow_hover.h File Reference

Optical-flow based control for Linux based systems. More...

#include "std.h"
#include "math/pprz_algebra_int.h"

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Data Structures
struct	opticflow_stab_t

Functions
void	guidance_opticflow_hover_init (void)
	Initialization of horizontal guidance module.
void	guidance_module_enter (void)
	Entering the module (user switched to module)
void	guidance_module_run (bool in_flight)
	Main guidance loop.

Variables
struct opticflow_stab_t	opticflow_stab

Detailed Description

Optical-flow based control for Linux based systems.

Control loops for optic flow based hovering. Computes setpoint for the lower level attitude stabilization to control horizontal velocity.

Definition in file guidance_opticflow_hover.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.

Function Documentation

guidance_module_enter()

void guidance_module_enter ( void  )

extern

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.

guidance_module_run()

void guidance_module_run ( bool  in_flight )

extern

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.

guidance_opticflow_hover_init()

void guidance_opticflow_hover_init ( void  )

extern

Initialization of horizontal guidance module.

Definition at line 105 of file guidance_opticflow_hover.c.

References foo, stabilization_opticflow_vel_cb(), velocity_est_ev, and VISION_VELOCITY_ESTIMATE_ID.

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Variable Documentation

opticflow_stab

struct opticflow_stab_t opticflow_stab

extern

Definition at line 90 of file guidance_opticflow_hover.c.