optical_flow_landing.h

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/*
 * Copyright (C) 2016
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * Paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef OPTICAL_FLOW_LANDING_H_
#define OPTICAL_FLOW_LANDING_H_

#include "std.h"

struct OpticalFlowLanding {
  float agl;                    
  float agl_lp;                 
  float lp_const;               
  float vel;                    
  float divergence_setpoint;    
  float pgain;                  
  float igain;                  
  float dgain;                  
  float divergence;             
  float previous_err;           
  float sum_err;                
  float d_err;                  
  float nominal_thrust;         
  uint32_t VISION_METHOD;       
  uint32_t CONTROL_METHOD;      
  float cov_set_point;          
  float cov_limit;              
  float pgain_adaptive;         
  float igain_adaptive;         
  float dgain_adaptive;         
  uint32_t COV_METHOD;          
  uint32_t delay_steps;         
  uint32_t window_size;         
  float reduction_factor_elc;   
  float lp_cov_div_factor;      
  float t_transition;           
  float p_land_threshold;       
  bool elc_oscillate;           
};

extern struct OpticalFlowLanding of_landing_ctrl;

// Without optitrack set to: GUIDANCE_H_MODE_ATTITUDE
// With optitrack set to: GUIDANCE_H_MODE_HOVER / NAV
#define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_NAV

// Own guidance_v
#define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_MODULE

// Implement own Vertical loops
extern void guidance_v_module_init(void);
extern void guidance_v_module_enter(void);
extern void guidance_v_module_run(bool in_flight);

#endif /* OPTICAL_FLOW_LANDING_H_ */