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 "autopilot.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	GVF_PARAMETRIC_CONTROL_KROLL   1
#define	GVF_PARAMETRIC_CONTROL_KCLIMB   1
#define	GVF_PARAMETRIC_CONTROL_L   0.1
#define	GVF_PARAMETRIC_CONTROL_BETA   0.01
#define	GVF_PARAMETRIC_CONTROL_KPSI   1

Functions
static void	send_gvf_parametric (struct transport_tx *trans, struct link_device *dev)
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void	gvf_parametric_init (void)
void	gvf_parametric_control_2D (float kx, float ky, float f1, float f2, float f1d, float f2d, float f1dd, float f2dd)
void	gvf_parametric_set_direction (int8_t s)

Variables
gvf_parametric_con	gvf_parametric_control
gvf_parametric_tel	gvf_parametric_telemetry = {{0},1,0}
uint32_t	gvf_parametric_t0 = 0

Detailed Description

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

Definition in file gvf_parametric.cpp.

Macro Definition Documentation

GVF_PARAMETRIC_CONTROL_BETA

#define GVF_PARAMETRIC_CONTROL_BETA   0.01

Default scale for w

Definition at line 49 of file gvf_parametric.cpp.

GVF_PARAMETRIC_CONTROL_KCLIMB

#define GVF_PARAMETRIC_CONTROL_KCLIMB   1

Default gain kclimb for tuning the climbing setting point

Definition at line 39 of file gvf_parametric.cpp.

GVF_PARAMETRIC_CONTROL_KPSI

#define GVF_PARAMETRIC_CONTROL_KPSI   1

Default gain kpsi for tuning the alignment of the vehicle with the vector field

Definition at line 54 of file gvf_parametric.cpp.

GVF_PARAMETRIC_CONTROL_KROLL

#define GVF_PARAMETRIC_CONTROL_KROLL   1

Default gain kroll for tuning the "coordinated turn"

Definition at line 34 of file gvf_parametric.cpp.

GVF_PARAMETRIC_CONTROL_L

#define GVF_PARAMETRIC_CONTROL_L   0.1

Default scale for the error signals

Definition at line 44 of file gvf_parametric.cpp.

Function Documentation

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 137 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, course, gvf_parametric_con::delta_T, desired_x, desired_y, gvf_parametric_tel::e_len, foo, get_sys_time_msec(), ground_speed, gvf_c_ctrl, gvf_c_info, gvf_low_level_control_2D(), gvf_parametric_control, gvf_parametric_t0, gvf_parametric_telemetry, h(), J, gvf_parametric_con::k_psi, gvf_common_info::kappa, gvf_parametric_con::L, gvf_common_ctrl::omega, gvf_common_info::ori_err, gvf_parametric_tel::phi_errors, gvf_parametric_con::s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), gvf_parametric_con::w, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by nav_gvf_parametric_2D_bezier_run(), and nav_gvf_parametric_2D_trefoil_XY().

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gvf_parametric_init()

void gvf_parametric_init

(

void

)

---

Definition at line 117 of file gvf_parametric.cpp.

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

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gvf_parametric_set_direction()

void gvf_parametric_set_direction

(

int8_t

s

)

Definition at line 347 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

TELEMETRY -----------------------------------------------------------—.

Definition at line 74 of file gvf_parametric.cpp.

References gvf_parametric_con::beta, dev, gvf_parametric_tel::e_len, foo, get_sys_time_msec(), gvf_parametric_control, gvf_parametric_t0, gvf_parametric_telemetry, gvf_parametric_trajectory, gvf_parametric_tra::p_len, gvf_parametric_tra::p_parametric, gvf_parametric_tel::phi_errors, gvf_parametric_con::s, gvf_parametric_tel::splines_ctr, gvf_parametric_tra::type, and gvf_parametric_con::w.

Referenced by gvf_parametric_init().

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Variable Documentation

gvf_parametric_control

gvf_parametric_con gvf_parametric_control

Definition at line 64 of file gvf_parametric.cpp.

Referenced by gvf_parametric_control_2D(), gvf_parametric_init(), gvf_parametric_set_direction(), nav_gvf_parametric_2D_bezier_run(), nav_gvf_parametric_2D_bezier_wp(), nav_gvf_parametric_2D_trefoil_XY(), and send_gvf_parametric().

gvf_parametric_t0

uint32_t gvf_parametric_t0 = 0

Definition at line 68 of file gvf_parametric.cpp.

Referenced by gvf_parametric_control_2D(), and send_gvf_parametric().

gvf_parametric_telemetry

gvf_parametric_tel gvf_parametric_telemetry = {{0},1,0}

Definition at line 65 of file gvf_parametric.cpp.

Referenced by gvf_parametric_control_2D(), nav_gvf_parametric_2D_bezier_wp(), and send_gvf_parametric().