Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
optical_flow_hover.h
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1 /*
2  * Copyright (C) 2018
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
21 #ifndef OPTICAL_FLOW_HOVER_H_
22 #define OPTICAL_FLOW_HOVER_H_
23 
24 #include "std.h"
25 
26 extern bool oscphi;
27 extern bool osctheta;
28 extern bool derotated;
29 extern bool cov_method;
30 extern uint8_t hover_method;
31 
35 
36 // The module functions
37 extern void optical_flow_hover_init(void);
38 
39 extern void guidance_module_enter(void);
40 extern void guidance_module_run(bool in_flight);
41 
42 #endif /* OPTICAL_FLOW_LANDING_H_ */
43 
bool derotated
struct OpticalFlowHoverControl of_hover_ctrl_Y
uint8_t hover_method
Method used to hover 0 = All axis after each other; 1 = all axis at the same time; 2 = vertical only,...
bool oscphi
struct OpticalFlowHoverControl of_hover_ctrl_Z
void guidance_module_enter(void)
Entering the module (user switched to module)
void guidance_module_run(bool in_flight)
Main guidance loop.
bool cov_method
method to calculate the covariance: between thrust and div / angle and flow (0) or div and div past /...
struct OpticalFlowHoverControl of_hover_ctrl_X
bool osctheta
void optical_flow_hover_init(void)
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98