#include "nav_ellipse.h"
#include "generated/airframe.h"
#include "modules/guidance/gvf/gvf.h"

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Macros
#define	GVF_ELLIPSE_KE 1

#define	GVF_ELLIPSE_KN 1

#define	GVF_ELLIPSE_A 80

#define	GVF_ELLIPSE_B 80

#define	GVF_ELLIPSE_ALPHA 0

Functions
bool	nav_gvf_ellipse_XY (float x, float y, float a, float b, float alpha)

bool	nav_gvf_ellipse_wp (uint8_t wp, float a, float b, float alpha)

Variables
gvf_ell_par	gvf_ellipse_par

static int	gvf_p_len_wps = 0

Macro Definition Documentation

◆ GVF_ELLIPSE_A

#define GVF_ELLIPSE_A 80

Default first axis for the ellipse trajectory

Definition at line 40 of file nav_ellipse.c.

◆ GVF_ELLIPSE_ALPHA

#define GVF_ELLIPSE_ALPHA 0

Default orientation in degrees for the ellipse trajectory

Definition at line 50 of file nav_ellipse.c.

◆ GVF_ELLIPSE_B

#define GVF_ELLIPSE_B 80

Default second axis for the ellipse trajectory

Definition at line 45 of file nav_ellipse.c.

◆ GVF_ELLIPSE_KE

#define GVF_ELLIPSE_KE 1

Default gain ke for the ellipse trajectory

Definition at line 30 of file nav_ellipse.c.

◆ GVF_ELLIPSE_KN

#define GVF_ELLIPSE_KN 1

Default gain kn for the ellipse trajectory

Definition at line 35 of file nav_ellipse.c.

Function Documentation

◆ nav_gvf_ellipse_wp()

bool nav_gvf_ellipse_wp	(	uint8_t	wp,
		float	a,
		float	b,
		float	alpha
	)

Definition at line 103 of file nav_ellipse.c.

References alpha, b, gvf_p_len_wps, gvf_trajectory, nav_gvf_ellipse_XY(), gvf_tra::p, WaypointX, and WaypointY.

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◆ nav_gvf_ellipse_XY()

bool nav_gvf_ellipse_XY	(	float	x,
		float	y,
		float	a,
		float	b,
		float	alpha
	)

Definition at line 64 of file nav_ellipse.c.

References alpha, b, gvf_con::error, foo, gvf_control, gvf_control_2D(), gvf_ellipse_info(), gvf_ellipse_par, gvf_p_len_wps, gvf_trajectory, gvf_con::ke, gvf_ell_par::ke, gvf_ell_par::kn, gvf_tra::p, gvf_tra::p_len, and gvf_tra::type.

Referenced by distributed_circular(), nav_gvf_ellipse_wp(), and nav_gvf_survey_polygon_run().

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Variable Documentation

◆ gvf_ellipse_par

gvf_ell_par gvf_ellipse_par

Initial value:

= {GVF_ELLIPSE_KE, GVF_ELLIPSE_KN,
                               GVF_ELLIPSE_A, GVF_ELLIPSE_B, GVF_ELLIPSE_ALPHA
                              }

Definition at line 53 of file nav_ellipse.c.

Referenced by nav_gvf_ellipse_XY().

◆ gvf_p_len_wps

int gvf_p_len_wps = 0

static

Definition at line 58 of file nav_ellipse.c.

Referenced by nav_gvf_ellipse_wp(), nav_gvf_ellipse_XY(), nav_gvf_ik_ellipse_wp(), and nav_gvf_ik_ellipse_XY().

Macros

Functions

Variables