gvf.c File Reference

#include <math.h>
#include "std.h"
#include "gvf.h"
#include "autopilot.h"
#include "modules/datalink/telemetry.h"

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Functions
static void	send_gvf (struct transport_tx *trans, struct link_device *dev)
	TELEMETRY -----------------------------------------------------------—.
void	gvf_init (void)
	EXTERN FUNCTIONS ----------------------------------------------------—.
void	gvf_control_2D (float ke, float kn, float e, struct gvf_grad *grad, struct gvf_Hess *hess)
void	gvf_set_direction (int8_t s)
void	gvf_set_speed (float speed)
void	gvf_set_align (bool align)

Variables
gvf_con	gvf_control
gvf_tel	gvf_telemetry = {0}
static uint32_t	gvf_t0 = 0

Function Documentation

gvf_control_2D()

void gvf_control_2D	(	float	ke,
		float	kn,
		float	e,
		struct gvf_grad *	grad,
		struct gvf_Hess *	hess
	)

Definition at line 100 of file gvf.c.

References RotorcraftNavigation::accel, gvf_con::align, gvf_common_state::course, course, gvf_con::error_n, foo, get_sys_time_msec(), gvf_c_info, gvf_c_state, gvf_control, gvf_low_level_control_2D(), gvf_low_level_getState(), gvf_t0, gvf_telemetry, RotorcraftNavigation::heading, gvf_common_info::kappa, gvf_tel::n_norm, nav, NAV_SETPOINT_MODE_SPEED, gvf_tel::omega, gvf_tel::omega_d, gvf_common_info::ori_err, gvf_common_state::px_dot, gvf_common_state::py_dot, gvf_con::s, s, RotorcraftNavigation::setpoint_mode, RotorcraftNavigation::speed, gvf_con::speed, gvf_tel::t_norm, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_line(), nav_gvf_ellipse_XY(), and nav_gvf_sin_XY_alpha().

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gvf_init()

void gvf_init

(

void

)

EXTERN FUNCTIONS ----------------------------------------------------—.

---

Definition at line 85 of file gvf.c.

References gvf_con::align, DefaultPeriodic, foo, gvf_control, gvf_trajectory, gvf_con::ke, gvf_con::kn, NONE, register_periodic_telemetry(), gvf_con::s, send_gvf(), gvf_con::speed, and gvf_tra::type.

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gvf_set_align()

void gvf_set_align

(

bool

align

)

Definition at line 245 of file gvf.c.

References gvf_con::align, and gvf_control.

gvf_set_direction()

void gvf_set_direction

(

int8_t

s

)

Definition at line 232 of file gvf.c.

References gvf_control, gvf_con::s, and s.

Referenced by gvf_circle_direction(), nav_gvf_line_XY_heading(), and nav_gvf_segment_loop_XY1_XY2().

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gvf_set_speed()

void gvf_set_speed

(

float

speed

)

Definition at line 239 of file gvf.c.

References gvf_control, and gvf_con::speed.

send_gvf()

static void send_gvf ( struct transport_tx *  trans, struct link_device *  dev  )

static

TELEMETRY -----------------------------------------------------------—.

Definition at line 42 of file gvf.c.

References dev, ELLIPSE, gvf_con::error, gvf_con::error_n, foo, get_sys_time_msec(), gvf_control, gvf_segment, gvf_t0, gvf_telemetry, gvf_trajectory, gvf_con::ke, LINE, gvf_tel::n_norm, gvf_tel::omega, gvf_tel::omega_d, gvf_tra::p, gvf_tra::p_len, gvf_con::s, gvf_seg::seg, gvf_tel::t_norm, gvf_tra::type, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by gvf_init().

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Variable Documentation

gvf_control

gvf_con gvf_control

Definition at line 30 of file gvf.c.

Referenced by distributed_circular(), gvf_control_2D(), gvf_init(), gvf_line(), gvf_set_align(), gvf_set_direction(), gvf_set_speed(), nav_gvf_ellipse_XY(), nav_gvf_sin_XY_alpha(), and send_gvf().

gvf_t0

uint32_t gvf_t0 = 0

static

Definition at line 36 of file gvf.c.

Referenced by gvf_control_2D(), and send_gvf().

gvf_telemetry

gvf_tel gvf_telemetry = {0}

Definition at line 33 of file gvf.c.

Referenced by gvf_control_2D(), and send_gvf().