rover_guidance_holonomic.c File Reference

Basic guidance for rover. More...

#include "firmwares/rover/guidance/rover_guidance_holonomic.h"
#include "generated/airframe.h"
#include "generated/autopilot_core_guidance.h"
#include "state.h"
#include "modules/datalink/telemetry.h"

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Macros
#define	AUTOPILOT_CORE_GUIDANCE_C
#define	MAX_POS_ERR   10.f
#define	MAX_SPEED_ERR   10.f
#define	MAX_INTEGRAL_CMD   (MAX_PPRZ / 10.f)
#define	PROXIMITY_DIST   0.2f

Functions
void	rover_holo_guidance_init (void)
void	rover_holo_guidance_periodic (void)
static float	compute_pid (struct RoverHoloGuidancePID *pid)
void	rover_holo_guidance_run (float *heading_sp)
void	rover_holo_guidance_enter (void)
void	rover_guidance_holonomic_set_speed_igain (float igain)
void	rover_guidance_holonomic_set_turn_igain (float igain)

Variables
struct RoverHoloGuidance	rover_holo_guidance

Detailed Description

Basic guidance for rover.

Implement standard PID control loop to track a navigation target. Guidance "modes" are using the autopilot generation with the "guidance" state machine.

Definition in file rover_guidance_holonomic.c.

Macro Definition Documentation

AUTOPILOT_CORE_GUIDANCE_C

#define AUTOPILOT_CORE_GUIDANCE_C

Definition at line 29 of file rover_guidance_holonomic.c.

MAX_INTEGRAL_CMD

#define MAX_INTEGRAL_CMD   (MAX_PPRZ / 10.f)

Definition at line 81 of file rover_guidance_holonomic.c.

MAX_POS_ERR

#define MAX_POS_ERR   10.f

Definition at line 79 of file rover_guidance_holonomic.c.

MAX_SPEED_ERR

#define MAX_SPEED_ERR   10.f

Definition at line 80 of file rover_guidance_holonomic.c.

PROXIMITY_DIST

#define PROXIMITY_DIST   0.2f

Definition at line 82 of file rover_guidance_holonomic.c.

Function Documentation

compute_pid()

static float compute_pid ( struct RoverHoloGuidancePID *  pid )

static

Definition at line 74 of file rover_guidance_holonomic.c.

References RoverHoloGuidancePID::d, RoverHoloGuidancePID::d_err, RoverHoloGuidancePID::err, RoverHoloGuidancePID::i, RoverHoloGuidancePID::p, and RoverHoloGuidancePID::sum_err.

Referenced by rover_holo_guidance_run().

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rover_guidance_holonomic_set_speed_igain()

void rover_guidance_holonomic_set_speed_igain

(

float

igain

)

Definition at line 141 of file rover_guidance_holonomic.c.

References RoverHoloGuidancePID::i, rover_holo_guidance, RoverHoloGuidance::speed_pid, and RoverHoloGuidancePID::sum_err.

rover_guidance_holonomic_set_turn_igain()

void rover_guidance_holonomic_set_turn_igain

(

float

igain

)

Definition at line 147 of file rover_guidance_holonomic.c.

References RoverHoloGuidancePID::i, rover_holo_guidance, RoverHoloGuidancePID::sum_err, and RoverHoloGuidance::turn_pid.

rover_holo_guidance_enter()

void rover_holo_guidance_enter

(

void

)

Definition at line 131 of file rover_guidance_holonomic.c.

References RoverHoloGuidanceSetpoint::heading, RoverHoloGuidanceSetpoint::mask, FloatEulers::psi, rover_holo_guidance, RoverHoloGuidance::sp, and stateGetNedToBodyEulers_f().

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rover_holo_guidance_init()

void rover_holo_guidance_init

(

void

)

Definition at line 43 of file rover_guidance_holonomic.c.

References RoverHoloGuidancePID::d, RoverHoloGuidancePID::d_err, RoverHoloGuidancePID::err, FLOAT_VECT2_ZERO, RoverHoloGuidanceSetpoint::heading, RoverHoloGuidancePID::i, RoverHoloGuidancePID::p, RoverHoloGuidanceSetpoint::pos, rover_holo_guidance, RoverHoloGuidance::sp, RoverHoloGuidance::speed_pid, RoverHoloGuidancePID::sum_err, and RoverHoloGuidance::turn_pid.

rover_holo_guidance_periodic()

void rover_holo_guidance_periodic

(

void

)

Definition at line 68 of file rover_guidance_holonomic.c.

rover_holo_guidance_run()

void rover_holo_guidance_run

(

float *

heading_sp

)

Definition at line 84 of file rover_guidance_holonomic.c.

References RoverHoloGuidance::cmd, compute_pid(), RoverHoloGuidancePID::d_err, RoverHoloGuidancePID::err, float_vect2_norm(), RoverHoloGuidanceSetpoint::heading, MAX_POS_ERR, MAX_PPRZ, MAX_SPEED_ERR, RoverHoloGuidanceControl::motor_speed_x, RoverHoloGuidanceControl::motor_speed_y, RoverHoloGuidanceControl::motor_turn, RoverHoloGuidanceSetpoint::pos, PROXIMITY_DIST, FloatEulers::psi, FloatRates::r, rover_holo_guidance, RoverHoloGuidance::sp, RoverHoloGuidance::speed_pid, stateGetBodyRates_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), RoverHoloGuidancePID::sum_err, TRIM_PPRZ, RoverHoloGuidance::turn_pid, VECT2_DIFF, FloatVect2::x, and FloatVect2::y.

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Variable Documentation

rover_holo_guidance

struct RoverHoloGuidance rover_holo_guidance

Definition at line 1 of file rover_guidance_holonomic.c.

Referenced by rover_guidance_holonomic_set_speed_igain(), rover_guidance_holonomic_set_turn_igain(), rover_holo_guidance_enter(), rover_holo_guidance_init(), and rover_holo_guidance_run().