Basic guidance for rover. More...

#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"
#include "std.h"

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Data Structures
struct	RoverHoloGuidanceSetpoint

struct	RoverHoloGuidancePID

struct	RoverHoloGuidanceControl

struct	RoverHoloGuidance

Macros
#define	SetAPThrottleFromCommands(_cmd_x, _cmd_y)

Functions
void	rover_holo_guidance_init (void)

void	rover_holo_guidance_periodic (void)

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.h.

Data Structure Documentation

◆ RoverHoloGuidanceSetpoint

struct RoverHoloGuidanceSetpoint

Definition at line 36 of file rover_guidance_holonomic.h.

Collaboration diagram for RoverHoloGuidanceSetpoint:

Data Fields
float	heading	heading setpoint
uint8_t	mask	bit 5: vx & vy, bit 6: vz, bit 7: vyaw
struct FloatVect2	pos	position setpoint in NED. position setpoint
struct FloatVect2	speed	speed setpoint

◆ RoverHoloGuidancePID

struct RoverHoloGuidancePID

Definition at line 46 of file rover_guidance_holonomic.h.

Data Fields
float	d
float	d_err
float	err
float	i
float	p
float	sum_err

◆ RoverHoloGuidanceControl

struct RoverHoloGuidanceControl

Definition at line 56 of file rover_guidance_holonomic.h.

Data Fields
float	motor_speed_x
float	motor_speed_y
float	motor_turn

◆ RoverHoloGuidance

struct RoverHoloGuidance

Definition at line 62 of file rover_guidance_holonomic.h.

Collaboration diagram for RoverHoloGuidance:

Data Fields
struct RoverHoloGuidanceControl	cmd	commands
struct RoverHoloGuidanceSetpoint	sp	setpoints
struct RoverHoloGuidancePID	speed_pid	motor speed controller
struct RoverHoloGuidancePID	turn_pid	turn rate controller

Macro Definition Documentation

◆ SetAPThrottleFromCommands

#define SetAPThrottleFromCommands	(	_cmd_x,
		_cmd_y
	)

Value:

    { \
    autopilot.throttle = sqrtf(((_cmd_x * _cmd_x) + (_cmd_y * _cmd_y)) / 2.f); \
  }

Definition at line 81 of file rover_guidance_holonomic.h.

Function Documentation

◆ 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

extern

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().

Data Structures

Macros

Functions

Variables