gvf_parametric module

Guidance algorithm for tracking 2D and 3D smooth trajectories that are defined by a parametric equation.

For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field . This algorithm needs the Eigen library, be sure you have it installed, e.g., git submodule update –init –recursive sw/ext/eigen

Example for airframe file

Add to your firmware section:

<module name="gvf_parametric"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• gvf_parametric_init()

Files

Header Files

The following headers are automatically included in modules.h

• gvf_parametric.h
• gvf_parametric_low_level_control.h
• trajectories/gvf_parametric_3d_ellipse.h
• trajectories/gvf_parametric_3d_lissajous.h
• trajectories/gvf_parametric_2d_trefoil.h
• trajectories/gvf_parametric_2d_bezier_splines.h

Source Files

• modules/guidance/gvf_parametric/gvf_parametric.cpp
• modules/guidance/gvf_parametric/gvf_parametric_low_level_control.c
• modules/guidance/gvf_parametric/trajectories/gvf_parametric_3d_ellipse.c
• modules/guidance/gvf_parametric/trajectories/gvf_parametric_3d_lissajous.c
• modules/guidance/gvf_parametric/trajectories/gvf_parametric_2d_trefoil.c
• modules/guidance/gvf_parametric/trajectories/gvf_parametric_2d_bezier_splines.c
• modules/guidance/gvf_parametric/gvf_parametric.cpp
• modules/guidance/gvf_parametric/gvf_parametric_low_level_control.c
• modules/guidance/gvf_parametric/trajectories/gvf_parametric_3d_ellipse.c
• modules/guidance/gvf_parametric/trajectories/gvf_parametric_3d_lissajous.c
• modules/guidance/gvf_parametric/trajectories/gvf_parametric_2d_trefoil.c
• modules/guidance/gvf_parametric/trajectories/gvf_parametric_2d_bezier_splines.c

Raw gvf_parametric.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gvf_parametric" dir="guidance/gvf_parametric">
  <doc>
    <description>Guidance algorithm for tracking 2D and 3D smooth trajectories that are defined by a parametric equation.
 
      For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field .
      This algorithm needs the Eigen library, be sure you have it installed, e.g., git submodule update --init --recursive sw/ext/eigen
    </description>
  </doc>
 
  <settings name="GVF_PARAMETRIC">
    <dl_settings>
      <dl_settings NAME="GVF_PARAMETRIC">
        <dl_settings NAME="Control">
          <dl_setting MAX="1" MIN="-1" STEP="2" VAR="gvf_parametric_control.s" shortname = "direction"/>
          <dl_setting MAX="1.25" MIN="0.75" STEP="0.05" VAR="gvf_parametric_control.k_roll" shortname="k_roll" param="GVF_PARAMETRIC_CONTROL_KROLL"/>
          <dl_setting MAX="1.25" MIN="0.75" STEP="0.05" VAR="gvf_parametric_control.k_climb" shortname="k_climb" param="GVF_PARAMETRIC_CONTROL_KCLIMB"/>
          <dl_setting MAX="10" MIN="0.01" STEP="0.05" VAR="gvf_parametric_control.L" shortname="L" param="GVF_PARAMETRIC_CONTROL_L"/>
          <dl_setting MAX="1" MIN="0.001" STEP="0.005" VAR="gvf_parametric_control.beta" shortname="beta" param="GVF_PARAMETRIC_CONTROL_BETA"/>
          <dl_setting MAX="1.5" MIN="0.5" STEP="0.01" VAR="gvf_parametric_control.k_psi" shortname="k_psi" param="GVF_PARAMETRIC_CONTROL_KPSI"/>
        </dl_settings>
        <dl_settings NAME="2D_trefoil">
          <dl_setting MAX="0.01" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_2d_trefoil_par.kx" shortname="2d_tre_kx" param="GVF_PARAMETRIC_2D_TREFOIL_KX"/>
          <dl_setting MAX="0.01" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_2d_trefoil_par.ky" shortname="2d_tre_ky" param="GVF_PARAMETRIC_2D_TREFOIL_KY"/>
          <dl_setting MAX="1" MIN="0.0" STEP="0.01" VAR="gvf_parametric_2d_trefoil_par.w1" shortname="2d_tre_w1" param="GVF_PARAMETRIC_2D_TREFOIL_W1"/>
          <dl_setting MAX="1" MIN="0.0" STEP="0.01" VAR="gvf_parametric_2d_trefoil_par.w2" shortname="2d_tre_w2" param="GVF_PARAMETRIC_2D_TREFOIL_W2"/>
          <dl_setting MAX="200" MIN="10" STEP="5" VAR="gvf_parametric_2d_trefoil_par.ratio" shortname="2d_tre_ratio" param="GVF_PARAMETRIC_2D_TREFOIL_RATIO"/>
          <dl_setting MAX="200" MIN="10" STEP="5" VAR="gvf_parametric_2d_trefoil_par.r" shortname="2d_tre_r" param="GVF_PARAMETRIC_2D_TREFOIL_R"/>
          <dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_parametric_2d_trefoil_par.alpha" shortname="2d_tre_alpha" param="GVF_PARAMETRIC_2D_TREFOIL_ALPHA"/>
        </dl_settings>
        <dl_settings NAME="2D_bezier">
          <dl_setting MAX="9.750" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_2d_bezier_par.kx" shortname="2d_bezier_kx" param="GVF_PARAMETRIC_2D_BEZIER_KX"/>
          <dl_setting MAX="9.750" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_2d_bezier_par.ky" shortname="2d_bezier_ky" param="GVF_PARAMETRIC_2D_BEZIER_KY"/>
        </dl_settings>   
        <dl_settings NAME="3D_ellipse">
          <dl_setting MAX="0.01" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_3d_ellipse_par.kx" shortname="3d_ell_kx" param="GVF_PARAMETRIC_3D_ELLIPSE_KX"/>
          <dl_setting MAX="0.01" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_3d_ellipse_par.ky" shortname="3d_ell_ky" param="GVF_PARAMETRIC_3D_ELLIPSE_KY"/>
          <dl_setting MAX="0.1" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_3d_ellipse_par.kz" shortname="3d_ell_kz" param="GVF_PARAMETRIC_3D_ELLIPSE_KZ"/>
          <dl_setting MAX="150" MIN="0.0" STEP="5" VAR="gvf_parametric_3d_ellipse_par.r" shortname="3d_ell_r" param="GVF_PARAMETRIC_3D_ELLIPSE_R"/>
          <dl_setting MAX="150" MIN="10" STEP="5" VAR="gvf_parametric_3d_ellipse_par.zl" shortname="3d_ell_zl" param="GVF_PARAMETRIC_3D_ELLIPSE_ZL"/>
          <dl_setting MAX="150" MIN="10" STEP="5" VAR="gvf_parametric_3d_ellipse_par.zh" shortname="3d_ell_zh" param="GVF_PARAMETRIC_3D_ELLIPSE_ZH"/>
          <dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_parametric_3d_ellipse_par.alpha" shortname="3d_ell_alpha" param="GVF_PARAMETRIC_3D_ELLIPSE_ALPHA"/>
        </dl_settings>
        <dl_settings NAME="3D_lissajous">
          <dl_setting MAX="0.01" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_3d_lissajous_par.kx" shortname="3d_lis_kx" param="GVF_PARAMETRIC_3D_LISSAJOUS_KX"/>
          <dl_setting MAX="0.01" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_3d_lissajous_par.ky" shortname="3d_lis_ky" param="GVF_PARAMETRIC_3D_LISSAJOUS_KY"/>
          <dl_setting MAX="0.1" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_3d_lissajous_par.kz" shortname="3d_lis_kz" param="GVF_PARAMETRIC_3D_LISSAJOUS_KZ"/>
          <dl_setting MAX="250" MIN="-250" STEP="5" VAR="gvf_parametric_3d_lissajous_par.cx" shortname="3d_lis_cx" param="GVF_PARAMETRIC_3D_LISSAJOUS_CX"/>
          <dl_setting MAX="250" MIN="-250" STEP="5" VAR="gvf_parametric_3d_lissajous_par.cy" shortname="3d_lis_cy" param="GVF_PARAMETRIC_3D_LISSAJOUS_CY"/>
          <dl_setting MAX="50" MIN="-50" STEP="5" VAR="gvf_parametric_3d_lissajous_par.cz" shortname="3d_lis_cz" param="GVF_PARAMETRIC_3D_LISSAJOUS_CZ"/>
          <dl_setting MAX="10" MIN="-10.0" STEP="0.5" VAR="gvf_parametric_3d_lissajous_par.wx" shortname="3d_lis_wx" param="GVF_PARAMETRIC_3D_LISSAJOUS_WX"/>
          <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="gvf_parametric_3d_lissajous_par.wy" shortname="3d_lis_wy" param="GVF_PARAMETRIC_3D_LISSAJOUS_WY"/>
          <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="gvf_parametric_3d_lissajous_par.wz" shortname="3d_lis_wz" param="GVF_PARAMETRIC_3D_LISSAJOUS_WZ"/>
          <dl_setting MAX="180" MIN="-180.0" STEP="1" VAR="gvf_parametric_3d_lissajous_par.dx" shortname="3d_lis_dx" param="GVF_PARAMETRIC_3D_LISSAJOUS_DX"/>
          <dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_parametric_3d_lissajous_par.dy" shortname="3d_lis_dy" param="GVF_PARAMETRIC_3D_LISSAJOUS_DY"/>
          <dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_parametric_3d_lissajous_par.dz" shortname="3d_lis_dz" param="GVF_PARAMETRIC_3D_LISSAJOUS_DZ"/>
          <dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_parametric_3d_lissajous_par.alpha" shortname="3d_lis_alpha" param="GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA"/>
        </dl_settings>
        
      </dl_settings>
    </dl_settings>
  </settings>
  
  <dep>
    <depends>gvf_common</depends>
  </dep>
  
  <header>
    <file name="gvf_parametric.h"/>
    <file name="gvf_parametric_low_level_control.h"/>
    <file name="trajectories/gvf_parametric_3d_ellipse.h"/>
    <file name="trajectories/gvf_parametric_3d_lissajous.h"/>
    <file name="trajectories/gvf_parametric_2d_trefoil.h"/>
    <file name="trajectories/gvf_parametric_2d_bezier_splines.h"/> 
  </header>
 
  <init fun = "gvf_parametric_init()"/>
 
  <makefile target="ap|nps" firmware="fixedwing">
    <configure name="CXXSTANDARD" value="-std=c++14"/>
    <flag name="CXXFLAGS" value="Wno-int-in-bool-context -Wno-deprecated-copy"/>
    <include name="$(PAPARAZZI_SRC)/sw/ext/eigen"/>
    <define name="EIGEN_NO_MALLOC"/>
    <define name="EIGEN_NO_AUTOMATIC_RESIZING"/>
    <file name="gvf_parametric.cpp"/>
    <file name="gvf_parametric_low_level_control.c"/>
    <file name="trajectories/gvf_parametric_3d_ellipse.c"/>
    <file name="trajectories/gvf_parametric_3d_lissajous.c"/>
    <file name="trajectories/gvf_parametric_2d_trefoil.c"/>
    <file name="trajectories/gvf_parametric_2d_bezier_splines.c"/>
    <flag name="LDFLAGS" value="lstdc++" />
  </makefile>
 
  <makefile target="ap|nps" firmware="rover">
    <configure name="CXXSTANDARD" value="-std=c++14"/>
    <flag name="CXXFLAGS" value="Wno-int-in-bool-context -Wno-deprecated-copy"/>
    <include name="$(PAPARAZZI_SRC)/sw/ext/eigen"/>
    <define name="EIGEN_NO_MALLOC"/>
    <define name="EIGEN_NO_AUTOMATIC_RESIZING"/>
    <file name="gvf_parametric.cpp"/>
    <file name="gvf_parametric_low_level_control.c"/>
    <file name="trajectories/gvf_parametric_3d_ellipse.c"/>
    <file name="trajectories/gvf_parametric_3d_lissajous.c"/>
    <file name="trajectories/gvf_parametric_2d_trefoil.c"/>
    <file name="trajectories/gvf_parametric_2d_bezier_splines.c"/>
    <flag name="LDFLAGS" value="lstdc++" />
  </makefile>
 
  <makefile target="ap" firmware="fixedwing">
    <define name="EIGEN_NO_DEBUG"/>
  </makefile>
 
  <makefile target="ap" firmware="rover">
    <define name="EIGEN_NO_DEBUG"/>
  </makefile>
</module>