approach_moving_target.c File Reference

#include "approach_moving_target.h"
#include "generated/modules.h"
#include "modules/core/abi.h"
#include <stdio.h>
#include "modules/datalink/telemetry.h"

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Data Structures
struct	AmtTelem

Macros
#define	DEBUG_AMT   TRUE

Functions
struct FloatVect3	nav_get_speed_sp_from_diagonal (struct EnuCoor_i target, float pos_gain, float rope_heading)
void	update_waypoint (uint8_t wp_id, struct FloatVect3 *target_ned)
static void	send_approach_moving_target (struct transport_tx *trans, struct link_device *dev)
void	approach_moving_target_init (void)
void	approach_moving_target_enable (uint8_t wp_id)
void	follow_diagonal_approach (void)
	Generates a velocity reference from a diagonal approach path. More...

Variables
float	amt_err_slowdown_gain = AMT_ERR_SLOWDOWN_GAIN
float	approach_moving_target_angle_deg
struct Amt	amt
struct AmtTelem	amt_telem
bool	approach_moving_target_enabled = false

Detailed Description

Author

Ewoud Smeur e.j.j.nosp@m..sme.nosp@m.ur@tu.nosp@m.delf.nosp@m.t.nl Approach a moving target (e.g. ship)

Definition in file approach_moving_target.c.

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Data Structure Documentation

AmtTelem

struct AmtTelem

Definition at line 50 of file approach_moving_target.c.

Collaboration diagram for AmtTelem:

Data Fields
struct FloatVect3	des_pos
struct FloatVect3	des_vel

Macro Definition Documentation

DEBUG_AMT

#define DEBUG_AMT   TRUE

Definition at line 35 of file approach_moving_target.c.

Function Documentation

approach_moving_target_enable()

void approach_moving_target_enable

(

uint8_t

wp_id

)

Definition at line 102 of file approach_moving_target.c.

References amt, Amt::enabled_time, get_sys_time_msec(), and Amt::wp_id.

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approach_moving_target_init()

void approach_moving_target_init

(

void

)

Definition at line 76 of file approach_moving_target.c.

References DefaultPeriodic, register_periodic_telemetry(), and send_approach_moving_target().

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follow_diagonal_approach()

void follow_diagonal_approach

(

void

)

Generates a velocity reference from a diagonal approach path.

Definition at line 111 of file approach_moving_target.c.

nav_get_speed_sp_from_diagonal()

struct FloatVect3 nav_get_speed_sp_from_diagonal	(	struct EnuCoor_i	target,
		float	pos_gain,
		float	rope_heading
	)

send_approach_moving_target()

static void send_approach_moving_target ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 63 of file approach_moving_target.c.

References amt, amt_telem, AmtTelem::des_pos, AmtTelem::des_vel, dev, Amt::distance, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by approach_moving_target_init().

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update_waypoint()

void update_waypoint	(	uint8_t	wp_id,
		struct FloatVect3 *	target_ned
	)

Definition at line 84 of file approach_moving_target.c.

References DefaultChannel, DefaultDevice, ENU_OF_TO_NED, waypoint_set_enu(), waypoints, point::x, and point::y.

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Variable Documentation

amt

struct Amt amt

Initial value:

= {
  .distance = 60,
  .speed = -1.0,
  .pos_gain = 0.3,
  .psi_ref = 180.0,
  .slope_ref = 35.0,
  .speed_gain = 1.0,
  .relvel_gain = 1.0,
  .enabled_time = 0,
  .wp_id = 0,
}

Definition at line 33 of file approach_moving_target.c.

Referenced by approach_moving_target_enable(), and send_approach_moving_target().

amt_err_slowdown_gain

float amt_err_slowdown_gain = AMT_ERR_SLOWDOWN_GAIN

Definition at line 31 of file approach_moving_target.c.

amt_telem

struct AmtTelem amt_telem

Definition at line 33 of file approach_moving_target.c.

Referenced by send_approach_moving_target().

approach_moving_target_angle_deg

float approach_moving_target_angle_deg

Definition at line 33 of file approach_moving_target.c.

approach_moving_target_enabled

bool approach_moving_target_enabled = false

Definition at line 56 of file approach_moving_target.c.