#include "std.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	GainsPID

struct	OFhistory

struct	OpticalFlowHoverControl

struct	OpticalFlowHover

struct	DesiredInputs

Functions
float	set_cov_div (bool cov_method, struct OFhistory history, struct DesiredInputs inputs)
	Set the covariance of the divergence and the thrust / past divergence This funciton should only be called once per time step. More...

void	set_cov_flow (bool cov_method, struct OFhistory historyX, struct OFhistory historyY, struct DesiredInputs inputs, struct FloatVect3 covs)
	Set the covariance of the flow and past flow / desired angle This funciton should only be called once per time step. More...

float	PID_flow_control (float dt, struct OpticalFlowHoverControl *of_hover_ctrl)
	Determine and set the desired angle for constant flow control. More...

int32_t	PID_divergence_control (float dt, struct OpticalFlowHoverControl *of_hover_ctrl)
	Determine and set the thrust for constant divergence control. More...

Variables
uint32_t	ind_histXY

uint8_t	cov_array_filledXY

uint32_t	ind_histZ

uint8_t	cov_array_filledZ

struct OpticalFlowHover	of_hover

Data Structure Documentation

◆ GainsPID

struct GainsPID

Definition at line 27 of file optical_flow_functions.h.

Data Fields
float	D	D-gain for control.
float	d_err	difference of error for the D-gain
float	err	Current tracking error.
float	I	I-gain for control.
float	P	P-gain for control.
float	previous_err	Previous tracking error.
float	sum_err	integration of the error for I-gain

◆ OFhistory

struct OFhistory

Definition at line 37 of file optical_flow_functions.h.

Data Fields
float	input[COV_WINDOW_SIZE]
float	OF[COV_WINDOW_SIZE]
float	past_OF[COV_WINDOW_SIZE]

◆ OpticalFlowHoverControl

struct OpticalFlowHoverControl

Definition at line 43 of file optical_flow_functions.h.

Collaboration diagram for OpticalFlowHoverControl:

Data Fields
float	cov_setpoint	for adaptive gain control, setpoint of the covariance (oscillations)
float	nominal_value	The nominal value of thrust, phi or theta depending on Z, Y, X.
struct GainsPID	PID	The struct with the PID gains.
float	ramp	The ramp pused is increased with per dt.
float	reduction_factor	Reduce the gain by this factor when oscillating.
float	setpoint	setpoint for constant divergence/flow

◆ OpticalFlowHover

struct OpticalFlowHover

Definition at line 56 of file optical_flow_functions.h.

Data Fields
float	divergence	Divergence estimate.
float	flowX	Flow estimate in X direction.
float	flowY	Flow estimate in Y direction.

◆ DesiredInputs

struct DesiredInputs

Definition at line 62 of file optical_flow_functions.h.

Data Fields
float	phi
float	theta
int32_t	thrust

Function Documentation

◆ PID_divergence_control()

int32_t PID_divergence_control	(	float	dt,
		struct OpticalFlowHoverControl *	of_hover_ctrl
	)

Determine and set the thrust for constant divergence control.

Parameters

[out]	thrust
[in]	dt	time difference since last update
[in]	*of_hover_ctrl	OpticalFlowHoverControl structure

Definition at line 161 of file optical_flow_functions.c.

References GainsPID::D, GainsPID::d_err, GainsPID::err, GainsPID::I, lp_factor, MAX_PPRZ, OpticalFlowHoverControl::nominal_value, OF_LP_CONST, GainsPID::P, OpticalFlowHoverControl::PID, GainsPID::previous_err, and GainsPID::sum_err.

Referenced by vertical_ctrl_module_run().

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◆ PID_flow_control()

float PID_flow_control	(	float	dt,
		struct OpticalFlowHoverControl *	of_hover_ctrl
	)

Determine and set the desired angle for constant flow control.

Parameters

[out]	desired	angle
[in]	dt	time difference since last update
[in]	*of_hover_ctrl	OpticalFlowHoverControl structure

Definition at line 133 of file optical_flow_functions.c.

References GainsPID::D, GainsPID::d_err, GainsPID::err, GainsPID::I, lp_factor, OF_LP_CONST, OFH_MAXBANK, GainsPID::P, OpticalFlowHoverControl::PID, GainsPID::previous_err, and GainsPID::sum_err.

Referenced by horizontal_ctrl_module_run().

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◆ set_cov_div()

float set_cov_div	(	bool	cov_method,
		struct OFhistory *	history,
		struct DesiredInputs *	inputs
	)

Set the covariance of the divergence and the thrust / past divergence This funciton should only be called once per time step.

Parameters

[in] thrust the current thrust value

Definition at line 53 of file optical_flow_functions.c.

References cov_array_filledZ, cov_div, cov_method, COV_WINDOW_SIZE, covariance_f(), OpticalFlowHover::divergence, ind_histZ, OFhistory::input, MAX_PPRZ, normalized_thrust, OFhistory::OF, OF_COV_DELAY_STEPS, of_hover, OFhistory::past_OF, and DesiredInputs::thrust.

Referenced by vertical_ctrl_module_run().

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◆ set_cov_flow()

void set_cov_flow	(	bool	cov_method,
		struct OFhistory *	historyX,
		struct OFhistory *	historyY,
		struct DesiredInputs *	inputs,
		struct FloatVect3 *	covs
	)