Paparazzi UAS  v5.15_devel-47-g0391b4d
Paparazzi is a free software Unmanned Aircraft System.
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guidance_opticflow_hover.h File Reference

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

#include "std.h"
#include "math/pprz_algebra_int.h"
+ Include dependency graph for guidance_opticflow_hover.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  opticflow_stab_t
 

Functions

void guidance_h_module_init (void)
 Initialization of horizontal guidance module. More...
 
void guidance_h_module_enter (void)
 Entering the horizontal module (user switched to module) 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...
 

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.


Data Structure Documentation

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

void guidance_h_module_enter ( void  )

Entering the horizontal module (user switched to module)

Entering the horizontal module (user switched to module)

Definition at line 85 of file ctrl_module_innerloop_demo.c.

void guidance_h_module_init ( void  )

Initialization of horizontal guidance module.

Definition at line 80 of file ctrl_module_innerloop_demo.c.

void guidance_h_module_read_rc ( void  )

Read the RC commands.

Definition at line 90 of file ctrl_module_innerloop_demo.c.

void guidance_h_module_run ( bool  in_flight)

Main guidance loop.

Parameters
[in]in_flightWhether we are in flight or not

Definition at line 99 of file ctrl_module_innerloop_demo.c.

Variable Documentation

struct opticflow_stab_t opticflow_stab

Definition at line 90 of file guidance_opticflow_hover.c.