Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Guiding vector field algorithm for 2D and 3D complex trajectories. More...
#include "modules/nav/common_nav.h"
#include "modules/guidance/gvf_parametric/gvf_parametric.h"
#include "gvf_parametric_3d_lissajous.h"
Go to the source code of this file.
Macros | |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_KX 0.001 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_KY 0.001 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_KZ 0.001 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_CX 80 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_CY 80 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_CZ 10 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_WX 1 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_WY 1 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_WZ 1 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_DX 0 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_DY 0 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_DZ 0 |
#define | GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA 0 |
Functions | |
void | gvf_parametric_3d_lissajous_info (float *f1, float *f2, float *f3, float *f1d, float *f2d, float *f3d, float *f1dd, float *f2dd, float *f3dd) |
Guiding vector field algorithm for 2D and 3D complex trajectories.
3D lissajous
Definition in file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA 0 |
Default orientation in degrees for the trajectory in the XY plane
Definition at line 95 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_CX 80 |
Default amplitude of the trajectory in the X plane
Definition at line 50 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_CY 80 |
Default amplitude of the trajectory in the Y plane
Definition at line 55 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_CZ 10 |
Default amplitude of the trajectory in the Z plane
Definition at line 60 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_DX 0 |
Default offphase of the trajectory in the X plane
Definition at line 80 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_DY 0 |
Default offphase of the trajectory in the Y plane
Definition at line 85 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_DZ 0 |
Default offphase of the trajectory in the Z plane
Definition at line 90 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_KX 0.001 |
Default gain kx for the 3d lissajous trajectory
Definition at line 35 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_KY 0.001 |
Default gain ky for the 3d lissajous trajectory
Definition at line 40 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_KZ 0.001 |
Default gain kz for the 3d lissajous trajectory
Definition at line 45 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_WX 1 |
Default frequency of the trajectory in the X plane
Definition at line 65 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_WY 1 |
Default frequency of the trajectory in the Y plane
Definition at line 70 of file gvf_parametric_3d_lissajous.c.
#define GVF_PARAMETRIC_3D_LISSAJOUS_WZ 1 |
Default frequency of the trajectory in the Z plane
Definition at line 75 of file gvf_parametric_3d_lissajous.c.
void gvf_parametric_3d_lissajous_info | ( | float * | f1, |
float * | f2, | ||
float * | f3, | ||
float * | f1d, | ||
float * | f2d, | ||
float * | f3d, | ||
float * | f1dd, | ||
float * | f2dd, | ||
float * | f3dd | ||
) |
Definition at line 100 of file gvf_parametric_3d_lissajous.c.
References gvf_parametric_con::beta, gvf_parametric_control, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, gvf_parametric_con::s, and gvf_parametric_con::w.
Definition at line 98 of file gvf_parametric_3d_lissajous.c.