nav_sin.c File Reference

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

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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
bool	nav_gvf_sin_XY_alpha (float a, float b, float alpha, float w, float off, float A)
bool	nav_gvf_sin_wp1_wp2 (uint8_t wp1, uint8_t wp2, float w, float off, float A)
bool	nav_gvf_sin_wp_alpha (uint8_t wp, float alpha, float w, float off, float A)

Variables
gvf_s_par	gvf_sin_par
static int	gvf_p_len_wps = 0

Macro Definition Documentation

GVF_SIN_A

#define GVF_SIN_A   0

Default amplitude for the sin trajectory in meters

Definition at line 55 of file nav_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 40 of file nav_sin.c.

GVF_SIN_KE

#define GVF_SIN_KE   1

Default gain ke for the sin trajectory

Definition at line 30 of file nav_sin.c.

GVF_SIN_KN

#define GVF_SIN_KN   1

Default gain kn for the sin trajectory

Definition at line 35 of file nav_sin.c.

GVF_SIN_OFF

#define GVF_SIN_OFF   0

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

Definition at line 50 of file nav_sin.c.

GVF_SIN_W

#define GVF_SIN_W   0

Default frequency for the sin trajectory in rads

Definition at line 45 of file nav_sin.c.

Function Documentation

nav_gvf_sin_wp1_wp2()

bool nav_gvf_sin_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2,
		float	w,
		float	off,
		float	A
	)

Definition at line 94 of file nav_sin.c.

References A, alpha, foo, gvf_p_len_wps, gvf_trajectory, nav_gvf_sin_XY_alpha(), gvf_tra::p, WaypointX, and WaypointY.

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nav_gvf_sin_wp_alpha()

bool nav_gvf_sin_wp_alpha	(	uint8_t	wp,
		float	alpha,
		float	w,
		float	off,
		float	A
	)

Definition at line 117 of file nav_sin.c.

References A, alpha, foo, gvf_p_len_wps, gvf_trajectory, nav_gvf_sin_XY_alpha(), gvf_tra::p, WaypointX, and WaypointY.

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nav_gvf_sin_XY_alpha()

bool nav_gvf_sin_XY_alpha	(	float	a,
		float	b,
		float	alpha,
		float	w,
		float	off,
		float	A
	)

---

Definition at line 69 of file nav_sin.c.

References A, alpha, b, gvf_con::error, foo, gvf_control, gvf_control_2D(), gvf_p_len_wps, gvf_sin_info(), gvf_sin_par, gvf_trajectory, gvf_con::ke, gvf_s_par::ke, gvf_s_par::kn, gvf_tra::p, gvf_tra::p_len, and gvf_tra::type.

Referenced by nav_gvf_sin_wp1_wp2(), and nav_gvf_sin_wp_alpha().

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Variable Documentation

gvf_p_len_wps

int gvf_p_len_wps = 0

static

Definition at line 63 of file nav_sin.c.

Referenced by nav_gvf_ik_sin_wp1_wp2(), nav_gvf_ik_sin_wp_alpha(), nav_gvf_ik_sin_XY_alpha(), nav_gvf_sin_wp1_wp2(), nav_gvf_sin_wp_alpha(), and nav_gvf_sin_XY_alpha().

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 58 of file nav_sin.c.

Referenced by nav_gvf_sin_XY_alpha().