gvf.h File Reference

Guidance algorithm based on vector fields. More...

#include "std.h"
#include "modules/guidance/gvf_common.h"
#include "modules/guidance/trajectories/gvf_traj.h"

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Data Structures
struct	gvf_con
struct	gvf_tel

Macros
#define	GVF_OCAML_GCS   true

Functions
void	gvf_init (void)
	EXTERN FUNCTIONS ----------------------------------------------------—.
void	gvf_control_2D (float ke, float kn, float e, struct gvf_grad *, struct gvf_Hess *)
void	gvf_set_speed (float speed)
void	gvf_set_align (bool align)
void	gvf_set_direction (int8_t s)

Variables
gvf_con	gvf_control

Detailed Description

Guidance algorithm based on vector fields.

Definition in file gvf.h.

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Data Structure Documentation

gvf_con

struct gvf_con

Definition at line 53 of file gvf.h.

Data Fields
bool	align
float	error
float	error_n
float	ke
float	kn
int8_t	s
float	speed

gvf_tel

struct gvf_tel

Definition at line 63 of file gvf.h.

Data Fields
float	n_norm
float	omega
float	omega_d
float	t_norm

Macro Definition Documentation

GVF_OCAML_GCS

#define GVF_OCAML_GCS   true

Default GCS trajectory painter

Definition at line 33 of file gvf.h.

Function Documentation

gvf_control_2D()

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

extern

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

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

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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 )

extern

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 )

extern

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 )

extern

Definition at line 239 of file gvf.c.

References gvf_control, and gvf_con::speed.

Variable Documentation

gvf_control

gvf_con gvf_control

extern

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().