29 #ifndef ROVER_GUIDANCE_HOLONOMIC_H
30 #define ROVER_GUIDANCE_HOLONOMIC_H
33 #include "generated/airframe.h"
81 #define SetAPThrottleFromCommands(_cmd_x, _cmd_y) { \
82 autopilot.throttle = sqrtf(((_cmd_x * _cmd_x) + (_cmd_y * _cmd_y)) / 2.f); \
Paparazzi floating point algebra.
void rover_holo_guidance_init(void)
struct RoverHoloGuidance rover_holo_guidance
uint8_t mask
bit 5: vx & vy, bit 6: vz, bit 7: vyaw
void rover_holo_guidance_periodic(void)
struct RoverHoloGuidancePID speed_pid
motor speed controller
void rover_holo_guidance_run(float *heading_sp)
float heading
heading setpoint
struct FloatVect2 speed
speed setpoint
struct RoverHoloGuidanceSetpoint sp
setpoints
struct RoverHoloGuidancePID turn_pid
turn rate controller
void rover_holo_guidance_enter(void)
void rover_guidance_holonomic_set_turn_igain(float igain)
void rover_guidance_holonomic_set_speed_igain(float igain)
struct RoverHoloGuidanceControl cmd
commands
struct FloatVect2 pos
position setpoint in NED.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.