Paparazzi UAS  v6.2.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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approach_moving_target.h File Reference
#include "std.h"
#include "math/pprz_algebra_float.h"
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Data Structures

struct  Amt
 

Functions

void approach_moving_target_init (void)
 
void follow_diagonal_approach (void)
 Generates a velocity reference from a diagonal approach path. More...
 
void approach_moving_target_enable (uint8_t wp_id)
 

Variables

float approach_moving_target_angle_deg
 
struct Amt amt
 
float amt_err_slowdown_gain
 

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.h.


Data Structure Documentation

◆ Amt

struct Amt

Definition at line 35 of file approach_moving_target.h.

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Data Fields
float distance
int32_t enabled_time
float pos_gain
float psi_ref
struct FloatVect3 rel_unit_vec
float relvel_gain
float slope_ref
float speed
float speed_gain
uint8_t wp_id

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.

Variable Documentation

◆ amt

struct Amt amt
extern

◆ amt_err_slowdown_gain

float amt_err_slowdown_gain
extern

Definition at line 31 of file approach_moving_target.c.

◆ approach_moving_target_angle_deg

float approach_moving_target_angle_deg
extern

Definition at line 33 of file approach_moving_target.c.