gvf_low_level_control.c File Reference

Firmware dependent file for the guiding vector field algorithm for 2D trajectories. More...

#include "autopilot.h"
#include "modules/guidance/gvf/gvf_low_level_control.h"
#include "modules/guidance/gvf/gvf.h"

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Functions
void	gvf_low_level_getState (void)
void	gvf_low_level_control_2D (float omega)

Detailed Description

Firmware dependent file for the guiding vector field algorithm for 2D trajectories.

Definition in file gvf_low_level_control.c.

Function Documentation

gvf_low_level_control_2D()

void gvf_low_level_control_2D

(

float

omega

)

Definition at line 52 of file gvf_low_level_control.c.

References AP_MODE_AUTO2, autopilot_get_mode(), ground_speed, GVF_GRAVITY, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_ROLL, stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by gvf_control_2D().

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gvf_low_level_getState()

void gvf_low_level_getState

(

void

)

Definition at line 35 of file gvf_low_level_control.c.

References gvf_st::course, ground_speed, gvf_state, FloatEulers::psi, gvf_st::px_dot, gvf_st::py_dot, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetSpeedEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_control_2D().

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