Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Functions | Variables
gvf_parametric.cpp File Reference

Guiding vector field algorithm for 2D and 3D complex trajectories. More...

#include <iostream>
#include <Eigen/Dense>
#include "gvf_parametric.h"
#include "gvf_parametric_low_level_control.h"
#include "./trajectories/gvf_parametric_3d_ellipse.h"
#include "./trajectories/gvf_parametric_3d_lissajous.h"
#include "./trajectories/gvf_parametric_2d_trefoil.h"
#include "./trajectories/gvf_parametric_2d_bezier_splines.h"
#include "../gvf_common.h"
#include "autopilot.h"
#include "modules/datalink/telemetry.h"
+ Include dependency graph for gvf_parametric.cpp:

Go to the source code of this file.

Functions

static void send_gvf_parametric (struct transport_tx *trans, struct link_device *dev)
 
void gvf_parametric_init (void)
 
void gvf_parametric_set_direction (int8_t s)
 
void gvf_parametric_control_2D (float kx, float ky, float f1, float f2, float f1d, float f2d, float f1dd, float f2dd)
 
bool gvf_parametric_2D_trefoil_XY (float xo, float yo, float w1, float w2, float ratio, float r, float alpha)
 2D TRAJECTORIES More...
 
bool gvf_parametric_2D_trefoil_wp (uint8_t wp, float w1, float w2, float ratio, float r, float alpha)
 
bool gvf_parametric_2D_bezier_XY (void)
 
bool gvf_parametric_2D_bezier_wp (uint8_t first_wp)
 

Variables

uint32_t gvf_parametric_t0 = 0
 
uint32_t gvf_parametric_splines_ctr = 0
 
gvf_parametric_con gvf_parametric_control
 
gvf_parametric_tra gvf_parametric_trajectory
 
int gvf_parametric_plen = 1
 
int gvf_parametric_plen_wps = 0
 
int gvf_parametric_elen = 3
 
bezier_t gvf_bezier_2D [GVF_PARAMETRIC_2D_BEZIER_N_SEG]
 

Detailed Description

Guiding vector field algorithm for 2D and 3D complex trajectories.

Definition in file gvf_parametric.cpp.

Function Documentation

◆ gvf_parametric_2D_bezier_wp()

bool gvf_parametric_2D_bezier_wp ( uint8_t  first_wp)

Definition at line 382 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, create_bezier_spline(), gvf_bezier_2D, GVF_PARAMETRIC_2D_BEZIER_N_SEG, gvf_parametric_2d_bezier_par, gvf_parametric_2D_bezier_XY(), gvf_parametric_control, gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_splines_ctr, gvf_parametric_trajectory, gvf_par_2d_bezier_par::kx, gvf_par_2d_bezier_par::ky, gvf_parametric_tra::p_parametric, gvf_parametric_con::w, WaypointX, WaypointY, EnuCoor_f::x, and EnuCoor_f::y.

+ Here is the call graph for this function:

◆ gvf_parametric_2D_bezier_XY()

bool gvf_parametric_2D_bezier_XY ( void  )

Definition at line 369 of file gvf_parametric.cpp.

References BEZIER_2D, gvf_bezier_2D, gvf_parametric_2d_bezier_par, gvf_parametric_2d_bezier_splines_info(), gvf_parametric_control_2D(), gvf_parametric_trajectory, gvf_par_2d_bezier_par::kx, gvf_par_2d_bezier_par::ky, and gvf_parametric_tra::type.

Referenced by gvf_parametric_2D_bezier_wp().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ gvf_parametric_2D_trefoil_wp()

bool gvf_parametric_2D_trefoil_wp ( uint8_t  wp,
float  w1,
float  w2,
float  ratio,
float  r,
float  alpha 
)

Definition at line 360 of file gvf_parametric.cpp.

References alpha, gvf_parametric_2D_trefoil_XY(), gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, WaypointX, and WaypointY.

+ Here is the call graph for this function:

◆ gvf_parametric_2D_trefoil_XY()

bool gvf_parametric_2D_trefoil_XY ( float  xo,
float  yo,
float  w1,
float  w2,
float  ratio,
float  r,
float  alpha 
)

2D TRAJECTORIES

Definition at line 338 of file gvf_parametric.cpp.

References alpha, gvf_parametric_2d_trefoil_info(), gvf_parametric_2d_trefoil_par, gvf_parametric_control_2D(), gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_par_2d_tre_par::kx, gvf_par_2d_tre_par::ky, gvf_parametric_tra::p_parametric, TREFOIL_2D, and gvf_parametric_tra::type.

Referenced by gvf_parametric_2D_trefoil_wp().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ gvf_parametric_control_2D()

void gvf_parametric_control_2D ( float  kx,
float  ky,
float  f1,
float  f2,
float  f1d,
float  f2d,
float  f1dd,
float  f2dd 
)

Definition at line 125 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, course, gvf_parametric_con::delta_T, desired_x, desired_y, get_sys_time_msec(), ground_speed, gvf_c_info, gvf_c_omega, gvf_parametric_control, gvf_parametric_elen, gvf_parametric_low_level_control_2D(), gvf_parametric_t0, gvf_parametric_trajectory, h(), I, J, gvf_parametric_con::k_psi, gvf_common_params::kappa, gvf_parametric_con::L, gvf_common_omega::omega, gvf_common_params::ori_err, gvf_parametric_tra::phi_errors, gvf_parametric_con::s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), gvf_parametric_con::w, EnuCoor_f::x, mesonh.mesonh_atmosphere::X, and EnuCoor_f::y.

Referenced by gvf_parametric_2D_bezier_XY(), and gvf_parametric_2D_trefoil_XY().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ gvf_parametric_init()

void gvf_parametric_init ( void  )

Definition at line 100 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, DefaultPeriodic, gvf_parametric_con::delta_T, gvf_parametric_control, GVF_PARAMETRIC_CONTROL_BETA, GVF_PARAMETRIC_CONTROL_KCLIMB, GVF_PARAMETRIC_CONTROL_KPSI, GVF_PARAMETRIC_CONTROL_KROLL, GVF_PARAMETRIC_CONTROL_L, gvf_parametric_con::k_climb, gvf_parametric_con::k_psi, gvf_parametric_con::k_roll, gvf_parametric_con::L, register_periodic_telemetry(), gvf_parametric_con::s, send_gvf_parametric(), and gvf_parametric_con::w.

+ Here is the call graph for this function:

◆ gvf_parametric_set_direction()

void gvf_parametric_set_direction ( int8_t  s)

Definition at line 120 of file gvf_parametric.cpp.

References gvf_parametric_control, gvf_parametric_con::s, and s.

◆ send_gvf_parametric()

static void send_gvf_parametric ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 64 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, dev, get_sys_time_msec(), gvf_parametric_control, gvf_parametric_elen, gvf_parametric_plen, gvf_parametric_splines_ctr, gvf_parametric_t0, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, gvf_parametric_tra::phi_errors, gvf_parametric_con::s, gvf_parametric_tra::type, and gvf_parametric_con::w.

Referenced by gvf_parametric_init().

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

Variable Documentation

◆ gvf_bezier_2D

bezier_t gvf_bezier_2D[GVF_PARAMETRIC_2D_BEZIER_N_SEG]

Definition at line 60 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2D_bezier_wp(), and gvf_parametric_2D_bezier_XY().

◆ gvf_parametric_control

gvf_parametric_con gvf_parametric_control

Definition at line 47 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2d_bezier_splines_info(), gvf_parametric_2D_bezier_wp(), gvf_parametric_2d_trefoil_info(), gvf_parametric_3d_ellipse_info(), gvf_parametric_3d_lissajous_info(), gvf_parametric_control_2D(), gvf_parametric_init(), gvf_parametric_low_level_control_2D(), gvf_parametric_low_level_control_3D(), gvf_parametric_set_direction(), and send_gvf_parametric().

◆ gvf_parametric_elen

int gvf_parametric_elen = 3

Definition at line 57 of file gvf_parametric.cpp.

Referenced by gvf_parametric_control_2D(), and send_gvf_parametric().

◆ gvf_parametric_plen

int gvf_parametric_plen = 1

Definition at line 53 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2D_bezier_wp(), gvf_parametric_2D_trefoil_XY(), and send_gvf_parametric().

◆ gvf_parametric_plen_wps

int gvf_parametric_plen_wps = 0

Definition at line 54 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2D_bezier_wp(), gvf_parametric_2D_trefoil_wp(), and gvf_parametric_2D_trefoil_XY().

◆ gvf_parametric_splines_ctr

uint32_t gvf_parametric_splines_ctr = 0

Definition at line 46 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2D_bezier_wp(), and send_gvf_parametric().

◆ gvf_parametric_t0

uint32_t gvf_parametric_t0 = 0

Definition at line 45 of file gvf_parametric.cpp.

Referenced by gvf_parametric_control_2D(), and send_gvf_parametric().

◆ gvf_parametric_trajectory

gvf_parametric_tra gvf_parametric_trajectory

Definition at line 50 of file gvf_parametric.cpp.

Referenced by gvf_parametric_2D_bezier_wp(), gvf_parametric_2D_bezier_XY(), gvf_parametric_2d_trefoil_info(), gvf_parametric_2D_trefoil_wp(), gvf_parametric_2D_trefoil_XY(), gvf_parametric_3d_ellipse_info(), gvf_parametric_3d_lissajous_info(), gvf_parametric_control_2D(), and send_gvf_parametric().