rot_wing_automation.h File Reference

#include "std.h"
#include "math/pprz_algebra_float.h"
#include "modules/rot_wing_drone/rotwing_state.h"

Include dependency graph for rot_wing_automation.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	rot_wing_automation

Macros
#define	RotWingAutomationReadyForForward()   (rot_wing_a.transitioned && (rotwing_state_skewing.wing_angle_deg > 75.0))

Functions
void	init_rot_wing_automation (void)
void	periodic_rot_wing_automation (void)
void	rot_wing_vis_transition (uint8_t wp_transition_id, uint8_t wp_decel_id, uint8_t wp_end_id)

Variables
struct rot_wing_automation	rot_wing_a

Detailed Description

Author

Dennis van Wijngaarden D.C.v.nosp@m.anWi.nosp@m.jngaa.nosp@m.rden.nosp@m.@tude.nosp@m.lft..nosp@m.nl Fucntions to automate the navigation and guidance of the rotating wing drone

Definition in file rot_wing_automation.h.

---

Data Structure Documentation

rot_wing_automation

struct rot_wing_automation

Definition at line 37 of file rot_wing_automation.h.

Collaboration diagram for rot_wing_automation:

Data Fields
float	trans_accel
float	trans_airspeed
float	trans_decel
float	trans_length
bool	transitioned
struct FloatVect2	windvect
struct FloatVect2	windvect_f

Macro Definition Documentation

RotWingAutomationReadyForForward

#define RotWingAutomationReadyForForward

(

)

(rot_wing_a.transitioned && (rotwing_state_skewing.wing_angle_deg > 75.0))

Definition at line 52 of file rot_wing_automation.h.

Function Documentation

init_rot_wing_automation()

void init_rot_wing_automation

(

void

)

Definition at line 70 of file rot_wing_automation.c.

References init_butterworth_2_low_pass(), rot_wing_a, ROT_WING_AUTOMATION_TRANS_ACCEL, ROT_WING_AUTOMATION_TRANS_AIRSPEED, ROT_WING_AUTOMATION_TRANS_DECEL, ROT_WING_AUTOMATION_TRANS_LENGTH, ROT_WING_AUTOMATION_WIND_FILT_CUTOFF, rot_wing_automation_wind_filter, rot_wing_automation::trans_accel, rot_wing_automation::trans_airspeed, rot_wing_automation::trans_decel, rot_wing_automation::trans_length, rot_wing_automation::transitioned, rot_wing_automation::windvect, rot_wing_automation::windvect_f, FloatVect2::x, and FloatVect2::y.

Here is the call graph for this function:

periodic_rot_wing_automation()

void periodic_rot_wing_automation

(

void

)

Definition at line 91 of file rot_wing_automation.c.

References rot_wing_a, stateGetAirspeed_f(), rot_wing_automation::trans_airspeed, rot_wing_automation::transitioned, and update_wind_vector().

Here is the call graph for this function:

rot_wing_vis_transition()

void rot_wing_vis_transition	(	uint8_t	wp_transition_id,
		uint8_t	wp_decel_id,
		uint8_t	wp_end_id
	)

Definition at line 139 of file rot_wing_automation.c.

References eulers_zxy, float_eulers_of_quat_zxy(), ground_speed, FloatEulers::psi, rot_wing_a, stateGetAirspeed_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyQuat_f(), stateGetPositionNed_f(), rot_wing_automation::trans_accel, rot_wing_automation::trans_airspeed, rot_wing_automation::trans_decel, rot_wing_automation::trans_length, update_waypoint_rot_wing_automation(), VECT3_COPY, VECT3_SUM, FloatVect3::x, FloatVect3::y, FloatVect3::z, and NedCoor_f::z.

Here is the call graph for this function:

Variable Documentation

rot_wing_a

struct rot_wing_automation rot_wing_a

extern

Definition at line 1 of file rot_wing_automation.c.

Referenced by init_rot_wing_automation(), periodic_rot_wing_automation(), rot_wing_vis_transition(), and update_wind_vector().