Guidance algorithm based on vector fields 2D sinusoidal trajectory. More...

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

Include dependency graph for gvf_sin.c:

Macros
#define	GVF_SIN_KE 1

#define	GVF_SIN_KN 1

#define	GVF_SIN_ALPHA 0

#define	GVF_SIN_W 0

#define	GVF_SIN_OFF 0

#define	GVF_SIN_A 0

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

Variables
gvf_s_par	gvf_sin_par

Detailed Description

Guidance algorithm based on vector fields 2D sinusoidal trajectory.

Definition in file gvf_sin.c.

Macro Definition Documentation

◆ GVF_SIN_A

#define GVF_SIN_A 0

Default amplitude for the sin trajectory in meters

Definition at line 61 of file gvf_sin.c.

◆ GVF_SIN_ALPHA

#define GVF_SIN_ALPHA 0

Default orientation in rads for the sin trajectory function gvf_sin_**_alpha

Definition at line 46 of file gvf_sin.c.

◆ GVF_SIN_KE

#define GVF_SIN_KE 1

Default gain ke for the sin trajectory

Definition at line 36 of file gvf_sin.c.

◆ GVF_SIN_KN

#define GVF_SIN_KN 1

Default gain kn for the sin trajectory

Definition at line 41 of file gvf_sin.c.

◆ GVF_SIN_OFF

#define GVF_SIN_OFF 0

Default off-set in rads for the sin trajectory in rads

Definition at line 56 of file gvf_sin.c.

◆ GVF_SIN_W

#define GVF_SIN_W 0

Default frequency for the sin trajectory in rads

Definition at line 51 of file gvf_sin.c.

Function Documentation

◆ gvf_sin_info()

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

Definition at line 69 of file gvf_sin.c.

References A, 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_sin_XY_alpha().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

◆ gvf_sin_par

gvf_s_par gvf_sin_par

Initial value:

= {GVF_SIN_KE, GVF_SIN_KN,
                         GVF_SIN_ALPHA, GVF_SIN_W, GVF_SIN_OFF, GVF_SIN_A
                        }

Definition at line 64 of file gvf_sin.c.