gvf.h File Reference

Guidance algorithm based on vector fields. More...

#include "std.h"

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Data Structures
struct	gvf_con
struct	gvf_st
struct	gvf_tra
struct	gvf_seg
struct	gvf_grad
struct	gvf_Hess

Macros
#define	GVF_GRAVITY   9.806
#define	GVF_OCAML_GCS   true

Enumerations
enum	trajectories { LINE = 0 , ELLIPSE , SIN , NONE = 255 }

Functions
void	gvf_init (void)
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)
bool	gvf_line_XY_heading (float x, float y, float heading)
bool	gvf_line_XY1_XY2 (float x1, float y1, float x2, float y2)
bool	gvf_line_wp1_wp2 (uint8_t wp1, uint8_t wp2)
bool	gvf_segment_loop_XY1_XY2 (float x1, float y1, float x2, float y2, float d1, float d2)
bool	gvf_segment_loop_wp1_wp2 (uint8_t wp1, uint8_t wp2, float d1, float d2)
bool	gvf_segment_XY1_XY2 (float x1, float y1, float x2, float y2)
bool	gvf_segment_wp1_wp2 (uint8_t wp1, uint8_t wp2)
bool	gvf_line_wp_heading (uint8_t wp, float heading)
bool	gvf_ellipse_wp (uint8_t wp, float a, float b, float alpha)
bool	gvf_ellipse_XY (float x, float y, float a, float b, float alpha)
bool	gvf_sin_XY_alpha (float x, float y, float alpha, float w, float off, float A)
bool	gvf_sin_wp1_wp2 (uint8_t wp1, uint8_t wp2, float w, float off, float A)
bool	gvf_sin_wp_alpha (uint8_t wp, float alpha, float w, float off, float A)

Variables
gvf_con	gvf_control
gvf_st	gvf_state
gvf_tra	gvf_trajectory

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 50 of file gvf.h.

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

gvf_st

struct gvf_st

Definition at line 62 of file gvf.h.

Data Fields
float	course
float	px_dot
float	py_dot

gvf_tra

struct gvf_tra

Definition at line 77 of file gvf.h.

Data Fields
float	p[16]
enum trajectories	type

gvf_seg

struct gvf_seg

Definition at line 90 of file gvf.h.

Data Fields
int	seg
float	x1
float	x2
float	y1
float	y2

gvf_grad

struct gvf_grad

Definition at line 100 of file gvf.h.

Data Fields
float	nx
float	ny
float	nz

gvf_Hess

struct gvf_Hess

Definition at line 106 of file gvf.h.

Data Fields
float	H11
float	H12
float	H13
float	H21
float	H22
float	H23
float	H31
float	H32
float	H33

Macro Definition Documentation

GVF_GRAVITY

#define GVF_GRAVITY   9.806

Definition at line 31 of file gvf.h.

GVF_OCAML_GCS

#define GVF_OCAML_GCS   true

Default GCS trajectory painter

Definition at line 35 of file gvf.h.

Enumeration Type Documentation

trajectories

enum trajectories

Enumerator
LINE
ELLIPSE
SIN
NONE

Definition at line 70 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
	)

Definition at line 131 of file gvf.c.

References RotorcraftNavigation::accel, gvf_con::align, gvf_st::course, course, get_sys_time_msec(), gvf_c_info, gvf_c_omega, gvf_control, gvf_low_level_control_2D(), gvf_low_level_getState(), gvf_state, gvf_t0, gvf_Hess::H11, gvf_Hess::H12, gvf_Hess::H21, gvf_Hess::H22, RotorcraftNavigation::heading, gvf_common_params::kappa, nav, NAV_SETPOINT_MODE_SPEED, gvf_grad::nx, gvf_grad::ny, gvf_con::omega, gvf_common_omega::omega, gvf_common_params::ori_err, gvf_st::px_dot, gvf_st::py_dot, gvf_con::s, s, RotorcraftNavigation::setpoint_mode, RotorcraftNavigation::speed, gvf_con::speed, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_ellipse_XY(), gvf_line(), and gvf_sin_XY_alpha().

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gvf_ellipse_wp()

bool gvf_ellipse_wp	(	uint8_t	wp,
		float	a,
		float	b,
		float	alpha
	)

Definition at line 472 of file gvf.c.

References alpha, b, gvf_ellipse_XY(), gvf_plen_wps, gvf_trajectory, gvf_tra::p, WaypointX, and WaypointY.

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gvf_ellipse_XY()

bool gvf_ellipse_XY	(	float	x,
		float	y,
		float	a,
		float	b,
		float	alpha
	)

Definition at line 433 of file gvf.c.

References alpha, b, gvf_con::error, gvf_control, gvf_control_2D(), gvf_ellipse_info(), gvf_ellipse_par, gvf_plen, gvf_plen_wps, gvf_trajectory, gvf_con::ke, gvf_ell_par::ke, gvf_ell_par::kn, gvf_tra::p, and gvf_tra::type.

Referenced by distributed_circular(), gvf_ellipse_wp(), and gvf_nav_survey_polygon_run().

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gvf_init()

void gvf_init

(

void

)

Definition at line 116 of file gvf.c.

References gvf_con::align, DefaultPeriodic, 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_line_wp1_wp2()

bool gvf_line_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2
	)

Definition at line 328 of file gvf.c.

References gvf_line_XY1_XY2(), gvf_plen_wps, gvf_trajectory, gvf_tra::p, WaypointX, and WaypointY.

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gvf_line_wp_heading()

bool gvf_line_wp_heading	(	uint8_t	wp,
		float	heading
	)

Definition at line 418 of file gvf.c.

References b, gvf_line_XY_heading(), gvf_plen_wps, gvf_trajectory, heading, gvf_tra::p, WaypointX, and WaypointY.

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gvf_line_XY1_XY2()

bool gvf_line_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)

Definition at line 304 of file gvf.c.

References gvf_line_XY_heading(), gvf_plen_wps, gvf_segment, gvf_trajectory, gvf_tra::p, gvf_seg::seg, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by gvf_line_wp1_wp2(), and gvf_segment_XY1_XY2().

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gvf_line_XY_heading()

bool gvf_line_XY_heading	(	float	x,
		float	y,
		float	heading
	)

Definition at line 297 of file gvf.c.

References b, gvf_line(), gvf_set_direction(), and heading.

Referenced by gvf_line_wp_heading(), and gvf_line_XY1_XY2().

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gvf_segment_loop_wp1_wp2()

bool gvf_segment_loop_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2,
		float	d1,
		float	d2
	)

Definition at line 366 of file gvf.c.

References d1, d2, gvf_plen_wps, gvf_segment_loop_XY1_XY2(), gvf_trajectory, gvf_tra::p, WaypointX, and WaypointY.

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gvf_segment_loop_XY1_XY2()

bool gvf_segment_loop_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2,
		float	d1,
		float	d2
	)

Definition at line 342 of file gvf.c.

References alpha, d1, d2, gvf_line(), gvf_segment, gvf_set_direction(), out_of_segment_area(), s, gvf_seg::seg, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by gvf_segment_loop_wp1_wp2().

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gvf_segment_wp1_wp2()

bool gvf_segment_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2
	)

Definition at line 404 of file gvf.c.

References gvf_plen_wps, gvf_segment_XY1_XY2(), gvf_trajectory, gvf_tra::p, WaypointX, and WaypointY.

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gvf_segment_XY1_XY2()

bool gvf_segment_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)

Definition at line 382 of file gvf.c.

References gvf_line_XY1_XY2(), p, and stateGetPositionEnu_f().

Referenced by gvf_nav_points(), and gvf_segment_wp1_wp2().

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gvf_set_align()

void gvf_set_align

(

bool

align

)

Definition at line 259 of file gvf.c.

References gvf_con::align, and gvf_control.

gvf_set_direction()

void gvf_set_direction

(

int8_t

s

)

Definition at line 266 of file gvf.c.

References gvf_control, gvf_con::s, and s.

Referenced by gvf_line_XY_heading(), gvf_nav_direction_circle(), and gvf_segment_loop_XY1_XY2().

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gvf_set_speed()

void gvf_set_speed

(

float

speed

)

Definition at line 253 of file gvf.c.

References gvf_control, and gvf_con::speed.

gvf_sin_wp1_wp2()

bool gvf_sin_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2,
		float	w,
		float	off,
		float	A
	)

Definition at line 508 of file gvf.c.

References A, alpha, gvf_plen_wps, gvf_sin_XY_alpha(), gvf_trajectory, gvf_tra::p, WaypointX, and WaypointY.

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gvf_sin_wp_alpha()

bool gvf_sin_wp_alpha	(	uint8_t	wp,
		float	alpha,
		float	w,
		float	off,
		float	A
	)

Definition at line 531 of file gvf.c.

References A, alpha, gvf_plen_wps, gvf_sin_XY_alpha(), gvf_trajectory, gvf_tra::p, WaypointX, and WaypointY.

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gvf_sin_XY_alpha()

bool gvf_sin_XY_alpha	(	float	x,
		float	y,
		float	alpha,
		float	w,
		float	off,
		float	A
	)

Definition at line 483 of file gvf.c.

References A, alpha, b, gvf_con::error, gvf_control, gvf_control_2D(), gvf_plen, gvf_plen_wps, gvf_sin_info(), gvf_sin_par, gvf_trajectory, gvf_con::ke, gvf_s_par::ke, gvf_s_par::kn, gvf_tra::p, and gvf_tra::type.

Referenced by gvf_sin_wp1_wp2(), and gvf_sin_wp_alpha().

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Variable Documentation

gvf_control

gvf_con gvf_control

extern

Definition at line 36 of file gvf.c.

Referenced by distributed_circular(), gvf_control_2D(), gvf_ellipse_XY(), gvf_init(), gvf_line(), gvf_set_align(), gvf_set_direction(), gvf_set_speed(), gvf_sin_XY_alpha(), and send_gvf().

gvf_state

gvf_st gvf_state

extern

Definition at line 39 of file gvf.c.

Referenced by gvf_control_2D(), and gvf_low_level_getState().

gvf_trajectory

gvf_tra gvf_trajectory

extern

Definition at line 42 of file gvf.c.

Referenced by gvf_ellipse_info(), gvf_ellipse_wp(), gvf_ellipse_XY(), gvf_init(), gvf_line(), gvf_line_info(), gvf_line_wp1_wp2(), gvf_line_wp_heading(), gvf_line_XY1_XY2(), gvf_segment_loop_wp1_wp2(), gvf_segment_wp1_wp2(), gvf_sin_info(), gvf_sin_wp1_wp2(), gvf_sin_wp_alpha(), gvf_sin_XY_alpha(), and send_gvf().