Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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guidance_rover_holonomic module

Holonomic guidance for rover

No detailed description...

Example for airframe file

Add to your firmware section:

1 <module name="guidance_rover_holonomic"/>

Module functions

Init Functions

These initialization functions are called once on startup.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

  • /guidance/rover_guidance_holonomic.c

Raw guidance_rover_holonomic.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="guidance_rover_holonomic" dir="guidance">
<doc>
<description>
Holonomic guidance for rover
</description>
</doc>
<settings target="ap">
<dl_settings>
<dl_settings NAME="GuidanceHolo">
<dl_setting var="rover_holo_guidance.speed_pid.p" min="0." step="0.1" max="10." shortname="s_kp" param="ROVER_HOLO_GUIDANCE_SPEED_PGAIN" type="float" persistent="true"/>
<dl_setting var="rover_holo_guidance.speed_pid.d" min="0." step="0.1" max="10." shortname="s_kd" param="ROVER_HOLO_GUIDANCE_SPEED_DGAIN" type="float" persistent="true"/>
<dl_setting var="rover_holo_guidance.speed_pid.i" min="0." step="0.01" max="1." shortname="s_ki" handler="set_speed_igain" param="ROVER_HOLO_GUIDANCE_SPEED_IGAIN" type="float" persistent="true" module="guidance/rover_guidance_holonomic"/>
<dl_setting var="rover_holo_guidance.turn_pid.p" min="0." step="0.01" max="10." shortname="t_kp" param="ROVER_HOLO_GUIDANCE_TURN_PGAIN" type="float" persistent="true"/>
<dl_setting var="rover_holo_guidance.turn_pid.d" min="0." step="0.01" max="10." shortname="t_kd" param="ROVER_HOLO_GUIDANCE_TURN_DGAIN" type="float" persistent="true"/>
<dl_setting var="rover_holo_guidance.turn_pid.i" min="0." step="0.01" max="1." shortname="t_ki" handler="set_turn_igain" param="ROVER_HOLO_GUIDANCE_TURN_IGAIN" type="float" persistent="true" module="guidance/rover_guidance_holonomic"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="rover_guidance_holonomic.h"/>
</header>
<init fun="rover_holo_guidance_init()"/>
<makefile target="ap" firmware="rover">
<file name="rover_guidance_holonomic.c" dir="$(SRC_FIRMWARE)/guidance"/>
</makefile>
</module>