Paparazzi UAS  v5.15_devel-112-g521f3cf
Paparazzi is a free software Unmanned Aircraft System.
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optical_flow_landing.h
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1 /*
2  * Copyright (C) 2016
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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20 
44 #ifndef OPTICAL_FLOW_LANDING_H_
45 #define OPTICAL_FLOW_LANDING_H_
46 
47 #include "std.h"
48 
50  float agl;
51  float agl_lp;
52  float lp_const;
53  float vel;
55  float pgain;
56  float igain;
57  float dgain;
58  float divergence;
59  float previous_err;
60  float sum_err;
61  float d_err;
65  float cov_set_point;
66  float cov_limit;
75  float t_transition;
78 };
79 
81 
82 // Without optitrack set to: GUIDANCE_H_MODE_ATTITUDE
83 // With optitrack set to: GUIDANCE_H_MODE_HOVER / NAV
84 #define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_NAV
85 
86 // Own guidance_v
87 #define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_MODULE
88 
89 // Implement own Vertical loops
90 extern void guidance_v_module_init(void);
91 extern void guidance_v_module_enter(void);
92 extern void guidance_v_module_run(bool in_flight);
93 
94 #endif /* OPTICAL_FLOW_LANDING_H_ */
float previous_err
Previous divergence tracking error.
float d_err
difference of error for the D-gain
void guidance_v_module_init(void)
float igain
I-gain for constant divergence control.
float lp_const
low-pass filter constant
float t_transition
how many seconds the drone has to be oscillating in order to transition to the hover phase with reduc...
float dgain
D-gain for constant divergence control.
float divergence
Divergence estimate.
bool elc_oscillate
Whether or not to oscillate at beginning of elc to find optimum gain.
struct OpticalFlowLanding of_landing_ctrl
float agl
agl = height from sonar (only used when using "fake" divergence)
float igain_adaptive
I-gain for adaptive gain control.
float p_land_threshold
if during the exponential landing the gain reaches this value, the final landing procedure is trigger...
float pgain_adaptive
P-gain for adaptive gain control.
uint32_t VISION_METHOD
whether to use vision (1) or Optitrack / sonar (0)
float vel
vertical velocity as determined with sonar (only used when using "fake" divergence) ...
float reduction_factor_elc
reduction factor - after oscillation, how much to reduce the gain...
float divergence_setpoint
setpoint for constant divergence approach
unsigned long uint32_t
Definition: types.h:18
void guidance_v_module_enter(void)
Entering the vertical module (user switched to module)
void guidance_v_module_run(bool in_flight)
float agl_lp
low-pass version of agl
uint32_t CONTROL_METHOD
type of divergence control: 0 = fixed gain, 1 = adaptive gain
float cov_limit
for fixed gain control, what is the cov limit triggering the landing
uint32_t COV_METHOD
method to calculate the covariance: between thrust and div (0) or div and div past (1) ...
float cov_set_point
for adaptive gain control, setpoint of the covariance (oscillations)
uint32_t window_size
number of time steps in "window" used for getting the covariance
uint32_t delay_steps
number of delay steps for div past
float pgain
P-gain for constant divergence control (from divergence error to thrust)
float lp_cov_div_factor
low-pass factor for the covariance of divergence in order to trigger the second landing phase in the ...
float sum_err
integration of the error for I-gain
float dgain_adaptive
D-gain for adaptive gain control.
float nominal_thrust
nominal thrust around which the PID-control operates