Optical-flow based control for Linux based systems. More...

#include "std.h"
#include "math/pprz_algebra_int.h"

Include dependency graph for guidance_opticflow_hover.h:

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

Functions
void	guidance_h_module_init (void)
	Initialization of horizontal guidance module. More...

void	guidance_h_module_enter (void)
	Horizontal guidance mode enter resets the errors and starts the controller. More...

void	guidance_h_module_read_rc (void)
	Read the RC commands. More...

void	guidance_h_module_run (bool in_flight)
	Main guidance loop. More...

Detailed Description

Optical-flow based control for Linux based systems.

Control loops for optic flow based hovering. Computes setpoint for the lower level attitude stabilization to control horizontal velocity.

Data Structure Documentation

struct opticflow_stab_t

Definition at line 37 of file guidance_opticflow_hover.h.

Collaboration diagram for opticflow_stab_t:

Data Fields
struct Int32Eulers	cmd	The commands that are send to the hover loop.
float	desired_vx	The desired velocity in the x direction (cm/s)
float	desired_vy	The desired velocity in the y direction (cm/s)
float	err_vx_int	The integrated velocity error in x direction (m/s)
float	err_vy_int	The integrated velocity error in y direction (m/s)
int32_t	phi_igain	The roll I gain on the err_vx_int.
int32_t	phi_pgain	The roll P gain on the err_vx.
int32_t	theta_igain	The pitch I gain on the err_vy_int.
int32_t	theta_pgain	The pitch P gain on the err_vy.

void guidance_h_module_enter ( void )

Horizontal guidance mode enter resets the errors and starts the controller.

Definition at line 85 of file ctrl_module_demo.c.

void guidance_h_module_init ( void )

Initialization of horizontal guidance module.

Definition at line 80 of file ctrl_module_demo.c.

void guidance_h_module_read_rc ( void )

Read the RC commands.

Definition at line 90 of file ctrl_module_demo.c.

void guidance_h_module_run ( bool in_flight )

Main guidance loop.

Parameters

[in] in_flight Whether we are in flight or not

Definition at line 99 of file ctrl_module_demo.c.

struct opticflow_stab_t opticflow_stab

Definition at line 90 of file guidance_opticflow_hover.c.