Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Data Structures | Macros | Functions | Variables
rover_guidance_steering.h File Reference
#include "std.h"
#include <math.h>
#include "math/pprz_geodetic_float.h"
#include "generated/airframe.h"
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Go to the source code of this file.

Data Structures

struct  sr_cmd_t
 Steering rover guidance STRUCTURES. More...
 
struct  rover_ctrl
 

Macros

#define MAX_DELTA   15.0
 Generated airframe.h from airframe.xml.
 
#define MIN_DELTA   MAX_DELTA
 
#define MAX_CMD_SHUT   0
 
#define MIN_CMD_SHUT   0
 
#define MAX_SPEED   999.0
 
#define MIN_SPEED   0.2
 
#define DRIVE_SHAFT_DISTANCE   0.25
 
#define SR_MEASURED_KF   10
 
#define BoundDelta(delta)
 MACROS.
 
#define BoundSpeed(speed)
 
#define BoundThrottle(throttle)   TRIM_PPRZ((int)throttle)
 
#define GetCmdFromDelta(delta)
 
#define GetCmdFromThrottle(throttle)   (autopilot_throttle_killed() ? 0 : TRIM_PPRZ((int)throttle))
 
#define SetAPThrottleFromCommands(void)
 

Functions

void rover_guidance_steering_init (void)
 Steering rover guidance EXT FUNCTIONS.
 
void rover_guidance_steering_periodic (void)
 
void rover_guidance_steering_heading_ctrl (float omega)
 CTRL functions.
 
void rover_guidance_steering_speed_ctrl (void)
 
void rover_guidance_steering_setpoints (struct EnuCoor_f pos_sp, float *heading_sp)
 
void rover_guidance_steering_pid_reset (void)
 PID RESET function.
 
void rover_guidance_steering_kill (void)
 
void rover_guidance_steering_set_speed_pgain (float pgain)
 
void rover_guidance_steering_set_speed_igain (float igain)
 

Variables

rover_ctrl guidance_control
 

Data Structure Documentation

◆ sr_cmd_t

struct sr_cmd_t

Steering rover guidance STRUCTURES.

Definition at line 102 of file rover_guidance_steering.h.

Data Fields
float delta
float speed

◆ rover_ctrl

struct rover_ctrl

Definition at line 108 of file rover_guidance_steering.h.

+ Collaboration diagram for rover_ctrl:
Data Fields
sr_cmd_t cmd
float heading_kp
float heading_sp heading setpoint
float kf
float ki
float kp
float omega_sp omega setpoint
float pos_kp
float speed_error
float throttle

Macro Definition Documentation

◆ BoundDelta

#define BoundDelta (   delta)
Value:
(delta < -MIN_DELTA ? -MIN_DELTA : \
(delta > MAX_DELTA ? MAX_DELTA : \
delta))
MAX_DELTA
#define MAX_DELTA
Generated airframe.h from airframe.xml.
Definition rover_guidance_steering.h:62
MIN_DELTA
#define MIN_DELTA
Definition rover_guidance_steering.h:65

MACROS.

Definition at line 138 of file rover_guidance_steering.h.

◆ BoundSpeed

#define BoundSpeed (   speed)
Value:
(speed < MIN_SPEED ? MIN_SPEED : \
(speed > MAX_SPEED ? MAX_SPEED : \
speed))
MAX_SPEED
#define MAX_SPEED
Definition rover_guidance_steering.h:81
MIN_SPEED
#define MIN_SPEED
Definition rover_guidance_steering.h:84

Definition at line 143 of file rover_guidance_steering.h.

◆ BoundThrottle

#define BoundThrottle (   throttle)    TRIM_PPRZ((int)throttle)

Definition at line 148 of file rover_guidance_steering.h.

◆ DRIVE_SHAFT_DISTANCE

#define DRIVE_SHAFT_DISTANCE   0.25

Definition at line 89 of file rover_guidance_steering.h.

◆ GetCmdFromDelta

#define GetCmdFromDelta (   delta)
Value:
(delta >= 0 ? delta/MAX_DELTA * (MAX_PPRZ - (int)MAX_CMD_SHUT) : \
delta/MIN_DELTA * (MAX_PPRZ - (int)MIN_CMD_SHUT))
foo
uint16_t foo
Definition main_demo5.c:58
MAX_PPRZ
#define MAX_PPRZ
Definition paparazzi.h:8
MAX_CMD_SHUT
#define MAX_CMD_SHUT
Definition rover_guidance_steering.h:73
MIN_CMD_SHUT
#define MIN_CMD_SHUT
Definition rover_guidance_steering.h:76

Definition at line 151 of file rover_guidance_steering.h.

◆ GetCmdFromThrottle

#define GetCmdFromThrottle (   throttle)    (autopilot_throttle_killed() ? 0 : TRIM_PPRZ((int)throttle))

Definition at line 155 of file rover_guidance_steering.h.

◆ MAX_CMD_SHUT

#define MAX_CMD_SHUT   0

Definition at line 73 of file rover_guidance_steering.h.

◆ MAX_DELTA

#define MAX_DELTA   15.0

Generated airframe.h from airframe.xml.

  • fun: SetActuatorsFromCommands
  • var: commands
  • var: hardware and construction parameters Global variables definitions

Definition at line 62 of file rover_guidance_steering.h.

◆ MAX_SPEED

#define MAX_SPEED   999.0

Definition at line 81 of file rover_guidance_steering.h.

◆ MIN_CMD_SHUT

#define MIN_CMD_SHUT   0

Definition at line 76 of file rover_guidance_steering.h.

◆ MIN_DELTA

#define MIN_DELTA   MAX_DELTA

Definition at line 65 of file rover_guidance_steering.h.

◆ MIN_SPEED

#define MIN_SPEED   0.2

Definition at line 84 of file rover_guidance_steering.h.

◆ SetAPThrottleFromCommands

#define SetAPThrottleFromCommands (   void)
Value:
{ \
autopilot.throttle = commands[COMMAND_THROTTLE]; \
}
autopilot
struct pprz_autopilot autopilot
Global autopilot structure.
Definition autopilot.c:49
pprz_autopilot::throttle
pprz_t throttle
throttle level as will be displayed in GCS
Definition autopilot.h:66
commands
static const ShellCommand commands[]
Definition shell_arch.c:78

Definition at line 158 of file rover_guidance_steering.h.

◆ SR_MEASURED_KF

#define SR_MEASURED_KF   10

Definition at line 95 of file rover_guidance_steering.h.

Function Documentation

◆ rover_guidance_steering_heading_ctrl()

void rover_guidance_steering_heading_ctrl ( float  omega)
extern

CTRL functions.

Definition at line 98 of file rover_guidance_steering.c.

References BoundDelta, BoundSpeed, rover_ctrl::cmd, sr_cmd_t::delta, DRIVE_SHAFT_DISTANCE, foo, guidance_control, and stateGetHorizontalSpeedNorm_f().

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◆ rover_guidance_steering_init()

void rover_guidance_steering_init ( void  )
extern

Steering rover guidance EXT FUNCTIONS.

Steering rover guidance EXT FUNCTIONS.

Definition at line 71 of file rover_guidance_steering.c.

References rover_ctrl::cmd, sr_cmd_t::delta, foo, guidance_control, rover_ctrl::heading_kp, init_pid_f(), rover_ctrl::kf, rover_ctrl::ki, rover_ctrl::kp, MAX_PPRZ, rover_ctrl::pos_kp, ROVER_GUIDANCE_HEADING_KP, ROVER_GUIDANCE_POS_KP, ROVER_GUIDANCE_SPEED_KI, ROVER_GUIDANCE_SPEED_KP, rover_pid, sr_cmd_t::speed, rover_ctrl::speed_error, SR_MEASURED_KF, rover_ctrl::throttle, and time_step.

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◆ rover_guidance_steering_kill()

void rover_guidance_steering_kill ( void  )
extern

Definition at line 156 of file rover_guidance_steering.c.

References rover_ctrl::cmd, sr_cmd_t::delta, guidance_control, and sr_cmd_t::speed.

◆ rover_guidance_steering_periodic()

void rover_guidance_steering_periodic ( void  )
extern

Definition at line 90 of file rover_guidance_steering.c.

References foo.

◆ rover_guidance_steering_pid_reset()

void rover_guidance_steering_pid_reset ( void  )
extern

PID RESET function.

Definition at line 151 of file rover_guidance_steering.c.

References reset_pid_f(), and rover_pid.

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◆ rover_guidance_steering_set_speed_igain()

void rover_guidance_steering_set_speed_igain ( float  igain)
extern

Definition at line 168 of file rover_guidance_steering.c.

References guidance_control, rover_ctrl::ki, rover_ctrl::kp, rover_pid, set_gains_pid_f(), and PID_f::sum.

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◆ rover_guidance_steering_set_speed_pgain()

void rover_guidance_steering_set_speed_pgain ( float  pgain)
extern

Definition at line 162 of file rover_guidance_steering.c.

References guidance_control, rover_ctrl::ki, rover_ctrl::kp, rover_pid, and set_gains_pid_f().

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◆ rover_guidance_steering_setpoints()

void rover_guidance_steering_setpoints ( struct EnuCoor_f  pos_sp,
float *  heading_sp 
)
extern

Definition at line 118 of file rover_guidance_steering.c.

References rover_ctrl::cmd, float_vect2_norm(), foo, guidance_control, rover_ctrl::heading_kp, rover_ctrl::heading_sp, rover_ctrl::omega_sp, rover_ctrl::pos_kp, FloatEulers::psi, ROVER_GUIDANCE_MAX_POS_ERR, ROVER_GUIDANCE_MAX_SPEED, ROVER_GUIDANCE_PROXIMITY_DISTANCE, sr_cmd_t::speed, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), VECT2_COPY, and VECT2_DIFF.

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◆ rover_guidance_steering_speed_ctrl()

void rover_guidance_steering_speed_ctrl ( void  )
extern

Definition at line 109 of file rover_guidance_steering.c.

References BoundThrottle, rover_ctrl::cmd, get_pid_f(), guidance_control, rover_ctrl::kf, rover_pid, sr_cmd_t::speed, rover_ctrl::speed_error, stateGetHorizontalSpeedNorm_f(), rover_ctrl::throttle, time_step, and update_pid_f().

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Variable Documentation

◆ guidance_control

rover_ctrl guidance_control
extern

Definition at line 65 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_heading_ctrl(), rover_guidance_steering_init(), rover_guidance_steering_kill(), rover_guidance_steering_set_speed_igain(), rover_guidance_steering_set_speed_pgain(), rover_guidance_steering_setpoints(), and rover_guidance_steering_speed_ctrl().