Paparazzi UAS v7.0_unstable
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gvf.h File Reference

Guidance algorithm based on vector fields. More...

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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.


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()

◆ gvf_init()

void gvf_init ( void  )
extern

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)
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