Paparazzi UAS  v5.15_devel-113-g1b57ff1
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
optical_flow_functions.h File Reference
#include "std.h"
#include "math/pprz_algebra_float.h"
+ Include dependency graph for optical_flow_functions.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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

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
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]
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
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.
struct DesiredInputs

Definition at line 62 of file optical_flow_functions.h.

Data Fields
float phi
float theta
int32_t thrust

Function Documentation

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]dttime difference since last update
[in]*of_hover_ctrlOpticalFlowHoverControl structure

Definition at line 160 of file optical_flow_functions.c.

References GainsPID::D, GainsPID::d_err, GainsPID::err, GainsPID::I, 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().

+ Here is the caller graph for this function:

float PID_flow_control ( float  dt,
struct OpticalFlowHoverControl of_hover_ctrl 
)

Determine and set the desired angle for constant flow control.

Parameters
[out]desiredangle
[in]dttime difference since last update
[in]*of_hover_ctrlOpticalFlowHoverControl structure

Definition at line 132 of file optical_flow_functions.c.

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

Referenced by horizontal_ctrl_module_run().

+ Here is the caller graph for this function:

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]thrustthe current thrust value

Definition at line 52 of file optical_flow_functions.c.

References cov_array_filledZ, cov_div, 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().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

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.

Definition at line 89 of file optical_flow_functions.c.

References cov_array_filledXY, COV_WINDOW_SIZE, covariance_f(), OpticalFlowHover::flowX, OpticalFlowHover::flowY, ind_histXY, OFhistory::input, OFhistory::OF, OF_COV_DELAY_STEPS, of_hover, OFH_MAXBANK, OFhistory::past_OF, DesiredInputs::phi, DesiredInputs::theta, FloatVect3::x, and FloatVect3::y.

Referenced by horizontal_ctrl_module_run().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

Variable Documentation

uint8_t cov_array_filledXY

Definition at line 42 of file optical_flow_functions.c.

Referenced by reset_horizontal_vars(), and set_cov_flow().

uint8_t cov_array_filledZ

Definition at line 44 of file optical_flow_functions.c.

Referenced by reset_vertical_vars(), and set_cov_div().

uint32_t ind_histXY

Definition at line 41 of file optical_flow_functions.c.

Referenced by reset_horizontal_vars(), and set_cov_flow().

uint32_t ind_histZ

Definition at line 43 of file optical_flow_functions.c.

Referenced by reset_vertical_vars(), and set_cov_div().