Paparazzi UAS  v6.2.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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approach_moving_target.h
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1 /*
2  * Copyright (C) 2021 Ewoud Smeur <e.j.j.smeur@tudelft.nl>
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
26 #ifndef APPROACH_MOVING_TARGET_H
27 #define APPROACH_MOVING_TARGET_H
28 
29 #include "std.h"
31 
32 // Angle of the approach in degrees
34 
35 struct Amt {
36  struct FloatVect3 rel_unit_vec;
37  float distance;
38  float speed;
39  float pos_gain;
40  float psi_ref;
41  float slope_ref;
42  float speed_gain;
43  float relvel_gain;
46 };
47 
48 extern struct Amt amt;
49 extern float amt_err_slowdown_gain;
50 
51 extern void approach_moving_target_init(void);
52 extern void follow_diagonal_approach(void);
54 
55 #endif // APPROACH_MOVING_TARGET_H
float speed_gain
float approach_moving_target_angle_deg
void follow_diagonal_approach(void)
Generates a velocity reference from a diagonal approach path.
int32_t enabled_time
struct Amt amt
float amt_err_slowdown_gain
uint8_t wp_id
float relvel_gain
void approach_moving_target_init(void)
struct FloatVect3 rel_unit_vec
void approach_moving_target_enable(uint8_t wp_id)
Paparazzi floating point algebra.
int int32_t
Typedef defining 32 bit int type.
Definition: vl53l1_types.h:83
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98