Paparazzi UAS  v5.18.0_stable
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optical_flow_functions.h File Reference
#include "std.h"
#include "math/pprz_algebra_float.h"
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Data Structures

struct  GainsPID
 
struct  OFhistory
 
struct  OpticalFlowHoverControl
 
struct  OpticalFlowHover
 
struct  DesiredInputs
 

Functions

float set_cov_div (bool cov_method, struct OFhistory *history, struct DesiredInputs *inputs)
 Set the covariance of the divergence and the thrust / past divergence This funciton should only be called once per time step. More...
 
void set_cov_flow (bool cov_method, struct OFhistory *historyX, struct OFhistory *historyY, struct DesiredInputs *inputs, struct FloatVect3 *covs)
 Set the covariance of the flow and past flow / desired angle This funciton should only be called once per time step. More...
 
float PID_flow_control (float dt, struct OpticalFlowHoverControl *of_hover_ctrl)
 Determine and set the desired angle for constant flow control. More...
 
int32_t PID_divergence_control (float dt, struct OpticalFlowHoverControl *of_hover_ctrl)
 Determine and set the thrust for constant divergence control. More...
 

Variables

uint32_t ind_histXY
 
uint8_t cov_array_filledXY
 
uint32_t ind_histZ
 
uint8_t cov_array_filledZ
 
struct OpticalFlowHover of_hover
 

Data Structure Documentation

◆ GainsPID

struct GainsPID

Definition at line 27 of file optical_flow_functions.h.

Data Fields
float D D-gain for control.
float d_err difference of error for the D-gain
float err Current tracking error.
float I I-gain for control.
float P P-gain for control.
float previous_err Previous tracking error.
float sum_err integration of the error for I-gain

◆ OFhistory

struct OFhistory

Definition at line 37 of file optical_flow_functions.h.

Data Fields
float input[COV_WINDOW_SIZE]
float OF[COV_WINDOW_SIZE]
float past_OF[COV_WINDOW_SIZE]

◆ OpticalFlowHoverControl

struct OpticalFlowHoverControl

Definition at line 43 of file optical_flow_functions.h.

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Data Fields
float cov_setpoint for adaptive gain control, setpoint of the covariance (oscillations)
float nominal_value The nominal value of thrust, phi or theta depending on Z, Y, X.
struct GainsPID PID The struct with the PID gains.
float ramp The ramp pused is increased with per dt.
float reduction_factor Reduce the gain by this factor when oscillating.
float setpoint setpoint for constant divergence/flow

◆ OpticalFlowHover

struct OpticalFlowHover

Definition at line 56 of file optical_flow_functions.h.

Data Fields
float divergence Divergence estimate.
float flowX Flow estimate in X direction.
float flowY Flow estimate in Y direction.

◆ DesiredInputs

struct DesiredInputs

Definition at line 62 of file optical_flow_functions.h.

Data Fields
float phi
float theta
int32_t thrust

Function Documentation

◆ PID_divergence_control()

int32_t PID_divergence_control ( float  dt,
struct OpticalFlowHoverControl of_hover_ctrl 
)

Determine and set the thrust for constant divergence control.

Parameters
[out]thrust
[in]dttime difference since last update
[in]*of_hover_ctrlOpticalFlowHoverControl structure

Definition at line 160 of file optical_flow_functions.c.

References GainsPID::D, GainsPID::d_err, GainsPID::err, f, GainsPID::I, MAX_PPRZ, OpticalFlowHoverControl::nominal_value, OF_LP_CONST, GainsPID::P, OpticalFlowHoverControl::PID, GainsPID::previous_err, and GainsPID::sum_err.

Referenced by vertical_ctrl_module_run().

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◆ PID_flow_control()

float PID_flow_control ( float  dt,
struct OpticalFlowHoverControl of_hover_ctrl 
)

Determine and set the desired angle for constant flow control.

Parameters
[out]desiredangle
[in]dttime difference since last update
[in]*of_hover_ctrlOpticalFlowHoverControl structure

Definition at line 132 of file optical_flow_functions.c.

References GainsPID::D, GainsPID::d_err, GainsPID::err, f, GainsPID::I, OF_LP_CONST, OFH_MAXBANK, GainsPID::P, OpticalFlowHoverControl::PID, GainsPID::previous_err, and GainsPID::sum_err.

Referenced by horizontal_ctrl_module_run().

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◆ set_cov_div()

float set_cov_div ( bool  cov_method,
struct OFhistory history,
struct DesiredInputs inputs 
)

Set the covariance of the divergence and the thrust / past divergence This funciton should only be called once per time step.

Parameters
[in]thrustthe current thrust value

Definition at line 52 of file optical_flow_functions.c.

References cov_array_filledZ, cov_div, cov_method, COV_WINDOW_SIZE, covariance_f(), OpticalFlowHover::divergence, ind_histZ, OFhistory::input, MAX_PPRZ, normalized_thrust, OFhistory::OF, OF_COV_DELAY_STEPS, of_hover, OFhistory::past_OF, and DesiredInputs::thrust.

Referenced by vertical_ctrl_module_run().

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◆ set_cov_flow()

void set_cov_flow ( bool  cov_method,
struct OFhistory historyX,
struct OFhistory historyY,
struct DesiredInputs inputs,
struct FloatVect3 covs 
)

Set the covariance of the flow and past flow / desired angle This funciton should only be called once per time step.

Definition at line 89 of file optical_flow_functions.c.

References cov_array_filledXY, cov_method, COV_WINDOW_SIZE, covariance_f(), OpticalFlowHover::flowX, OpticalFlowHover::flowY, historyX, historyY, ind_histXY, OFhistory::input, OFhistory::OF, OF_COV_DELAY_STEPS, of_hover, OFH_MAXBANK, OFhistory::past_OF, DesiredInputs::phi, DesiredInputs::theta, FloatVect3::x, and FloatVect3::y.

Referenced by horizontal_ctrl_module_run().

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Variable Documentation

◆ cov_array_filledXY

uint8_t cov_array_filledXY

Definition at line 42 of file optical_flow_functions.c.

Referenced by reset_horizontal_vars(), and set_cov_flow().

◆ cov_array_filledZ

uint8_t cov_array_filledZ

Definition at line 44 of file optical_flow_functions.c.

Referenced by reset_vertical_vars(), and set_cov_div().

◆ ind_histXY

uint32_t ind_histXY

Definition at line 41 of file optical_flow_functions.c.

Referenced by reset_horizontal_vars(), and set_cov_flow().

◆ ind_histZ

uint32_t ind_histZ

Definition at line 43 of file optical_flow_functions.c.

Referenced by reset_vertical_vars(), and set_cov_div().

◆ of_hover