optical_flow_hover.h File Reference

#include "std.h"

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Functions
void	optical_flow_hover_init (void)
void	guidance_module_enter (void)
	Entering the module (user switched to module) More...
void	guidance_module_run (bool in_flight)
	Main guidance loop. More...

Variables
bool	oscphi
bool	osctheta
bool	derotated
bool	cov_method
	method to calculate the covariance: between thrust and div / angle and flow (0) or div and div past / flow and past flow(1) More...
uint8_t	hover_method
	Method used to hover 0 = All axis after each other; 1 = all axis at the same time; 2 = vertical only, use relation to set horizontal. More...
struct OpticalFlowHoverControl	of_hover_ctrl_X
struct OpticalFlowHoverControl	of_hover_ctrl_Y
struct OpticalFlowHoverControl	of_hover_ctrl_Z

Function Documentation

guidance_module_enter()

void guidance_module_enter

(

void

)

Entering the module (user switched to module)

Entering the module (user switched to module)

Definition at line 77 of file ctrl_module_innerloop_demo.c.

guidance_module_run()

void guidance_module_run

(

bool

in_flight

)

Main guidance loop.

Parameters

[in]

in_flight

Whether we are in flight or not

Definition at line 82 of file ctrl_module_innerloop_demo.c.

optical_flow_hover_init()

void optical_flow_hover_init

(

void

)

Definition at line 259 of file optical_flow_hover.c.

References cov_method, OpticalFlowHoverControl::cov_setpoint, GainsPID::D, DefaultPeriodic, hover_method, GainsPID::I, of_hover_ctrl_X, of_hover_ctrl_Y, of_hover_ctrl_Z, OFH_COV_METHOD, OFH_COVDIV_SETPOINT, OFH_COVFLOW_SETPOINT, OFH_DGAINX, OFH_DGAINY, OFH_DGAINZ, OFH_HOVER_METHOD, OFH_IGAINX, OFH_IGAINY, OFH_IGAINZ, ofh_optical_flow_cb(), OFH_OPTICAL_FLOW_ID, OFH_OSCPHI, OFH_OSCTHETA, OFH_PGAINX, OFH_PGAINY, OFH_PGAINZ, OFH_RAMPXY, OFH_RAMPZ, OFH_REDUCTIONXY, OFH_REDUCTIONZ, optical_flow_ev, oscphi, osctheta, GainsPID::P, OpticalFlowHoverControl::PID, OpticalFlowHoverControl::ramp, OpticalFlowHoverControl::reduction_factor, register_periodic_telemetry(), reset_horizontal_vars(), reset_vertical_vars(), send_optical_flow_hover(), and OpticalFlowHoverControl::setpoint.

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Variable Documentation

cov_method

bool cov_method

extern

method to calculate the covariance: between thrust and div / angle and flow (0) or div and div past / flow and past flow(1)

Definition at line 215 of file optical_flow_hover.c.

Referenced by horizontal_ctrl_module_run(), optical_flow_hover_init(), set_cov_div(), set_cov_flow(), and vertical_ctrl_module_run().

derotated

bool derotated

extern

Definition at line 214 of file optical_flow_hover.c.

Referenced by ofh_optical_flow_cb().

hover_method

uint8_t hover_method

extern

Method used to hover 0 = All axis after each other; 1 = all axis at the same time; 2 = vertical only, use relation to set horizontal.

Definition at line 216 of file optical_flow_hover.c.

Referenced by horizontal_ctrl_module_run(), optical_flow_hover_init(), reset_horizontal_vars(), and vertical_ctrl_module_run().

of_hover_ctrl_X

struct OpticalFlowHoverControl of_hover_ctrl_X

extern

Definition at line 204 of file optical_flow_hover.c.

Referenced by horizontal_ctrl_module_run(), optical_flow_hover_init(), reset_horizontal_vars(), send_optical_flow_hover(), and vertical_ctrl_module_run().

of_hover_ctrl_Y

struct OpticalFlowHoverControl of_hover_ctrl_Y

extern

Definition at line 204 of file optical_flow_hover.c.

Referenced by horizontal_ctrl_module_run(), optical_flow_hover_init(), reset_horizontal_vars(), send_optical_flow_hover(), and vertical_ctrl_module_run().

of_hover_ctrl_Z

struct OpticalFlowHoverControl of_hover_ctrl_Z

extern

Definition at line 204 of file optical_flow_hover.c.

Referenced by guidance_module_enter(), optical_flow_hover_init(), reset_vertical_vars(), send_optical_flow_hover(), and vertical_ctrl_module_run().

oscphi

bool oscphi

extern

Definition at line 212 of file optical_flow_hover.c.

Referenced by horizontal_ctrl_module_run(), and optical_flow_hover_init().

osctheta

bool osctheta

extern

Definition at line 213 of file optical_flow_hover.c.

Referenced by horizontal_ctrl_module_run(), and optical_flow_hover_init().