gvf_sin.c File Reference

Guidance algorithm based on vector fields 2D sinusoidal trajectory. More...

#include "subsystems/navigation/common_nav.h"
#include "gvf_sin.h"
#include "generated/airframe.h"

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Macros
#define	GVF_SIN_KE   1
#define	GVF_SIN_KN   1
#define	GVF_SIN_ALPHA   0
#define	GVF_SIN_W   0
#define	GVF_SIN_OFF   0
#define	GVF_SIN_A   0

Functions
void	gvf_sin_info (float *phi, struct gvf_grad *grad, struct gvf_Hess *hess)

Variables
gvf_s_par	gvf_sin_par

Detailed Description

Guidance algorithm based on vector fields 2D sinusoidal trajectory.

Definition in file gvf_sin.c.

Macro Definition Documentation

#define GVF_SIN_A   0

Default amplitude for the sin trajectory in meters

Definition at line 61 of file gvf_sin.c.

#define GVF_SIN_ALPHA   0

Default orientation in rads for the sin trajectory function gvf_sin_**_alpha

Definition at line 46 of file gvf_sin.c.

#define GVF_SIN_KE   1

Default gain ke for the sin trajectory

Definition at line 36 of file gvf_sin.c.

#define GVF_SIN_KN   1

Default gain kn for the sin trajectory

Definition at line 41 of file gvf_sin.c.

#define GVF_SIN_OFF   0

Default off-set in rads for the sin trajectory in rads

Definition at line 56 of file gvf_sin.c.

#define GVF_SIN_W   0

Default frequency for the sin trajectory in rads

Definition at line 51 of file gvf_sin.c.

Function Documentation

void gvf_sin_info	(	float *	phi,
		struct gvf_grad *	grad,
		struct gvf_Hess *	hess
	)

Definition at line 69 of file gvf_sin.c.

References A, alpha, gvf_trajectory, gvf_Hess::H11, gvf_Hess::H12, gvf_Hess::H21, gvf_Hess::H22, gvf_grad::nx, gvf_grad::ny, gvf_tra::p, p, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_sin_XY_alpha().

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Variable Documentation

gvf_s_par gvf_sin_par

Initial value:

= {GVF_SIN_KE, GVF_SIN_KN,
                         GVF_SIN_ALPHA, GVF_SIN_W, GVF_SIN_OFF, GVF_SIN_A
                        }

Definition at line 64 of file gvf_sin.c.

Referenced by gvf_sin_XY_alpha().