Guidance algorithm based on vector fields 2D straight line trajectory. More...

#include "modules/nav/common_nav.h"
#include "gvf_line.h"
#include "generated/airframe.h"

Include dependency graph for gvf_line.c:

Macros
#define	GVF_LINE_KE 1

#define	GVF_LINE_KN 1

#define	GVF_LINE_HEADING 0

#define	GVF_SEGMENT_D1 0

#define	GVF_SEGMENT_D2 0

Functions
void	gvf_line_info (float phi, struct gvf_grad grad, struct gvf_Hess *hess)

Variables
gvf_li_par	gvf_line_par = {GVF_LINE_KE, GVF_LINE_KN, GVF_LINE_HEADING}

gvf_seg_par	gvf_segment_par = {GVF_SEGMENT_D1, GVF_SEGMENT_D2}

Detailed Description

Guidance algorithm based on vector fields 2D straight line trajectory.

Definition in file gvf_line.c.

Macro Definition Documentation

◆ GVF_LINE_HEADING

#define GVF_LINE_HEADING 0

Default heading in degrees for a trajectory called from gvf_line_**_HEADING

Definition at line 46 of file gvf_line.c.

◆ GVF_LINE_KE

#define GVF_LINE_KE 1

Gain ke for the line trajectory

Definition at line 36 of file gvf_line.c.

◆ GVF_LINE_KN

#define GVF_LINE_KN 1

Gain kn for the line trajectory

Definition at line 41 of file gvf_line.c.

◆ GVF_SEGMENT_D1

#define GVF_SEGMENT_D1 0

In case of tracking a segment, how much distance in meters will go the vehicle beyond the point x1,y1 before turning back

Definition at line 51 of file gvf_line.c.

◆ GVF_SEGMENT_D2

#define GVF_SEGMENT_D2 0

In case of tracking a segment, how much distance in meters will go the vehicle beyond the point x2,y2 before turning back

Definition at line 56 of file gvf_line.c.

Function Documentation

◆ gvf_line_info()

void gvf_line_info	(	float *	phi,
		struct gvf_grad *	grad,
		struct gvf_Hess *	hess
	)

Definition at line 62 of file gvf_line.c.

References alpha, b, gvf_trajectory, gvf_Hess::H11, gvf_Hess::H12, gvf_Hess::H21, gvf_Hess::H22, gvf_grad::nx, gvf_grad::ny, gvf_tra::p, p, and stateGetPositionEnu_f().

Referenced by gvf_line().

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Variable Documentation

◆ gvf_line_par

gvf_li_par gvf_line_par = {GVF_LINE_KE, GVF_LINE_KN, GVF_LINE_HEADING}

Definition at line 59 of file gvf_line.c.

Referenced by gvf_line().

◆ gvf_segment_par

gvf_seg_par gvf_segment_par = {GVF_SEGMENT_D1, GVF_SEGMENT_D2}

Definition at line 60 of file gvf_line.c.

Macros

Functions

Variables