rover_guidance_steering.c File Reference

#include "firmwares/rover/guidance/rover_guidance_steering.h"
#include "generated/airframe.h"
#include "modules/actuators/actuators_default.h"
#include "modules/radio_control/radio_control.h"
#include "autopilot.h"
#include "navigation.h"
#include "state.h"
#include "filters/pid.h"
#include <math.h>
#include <stdio.h>

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Macros
#define	AUTOPILOT_CORE_GUIDANCE_C

Functions
void	rover_guidance_steering_init (void)
	INIT function. More...
void	rover_guidance_steering_heading_ctrl (float omega)
	CTRL functions. More...
void	rover_guidance_steering_speed_ctrl (void)
void	rover_guidance_steering_pid_reset (void)
	PID RESET function. More...
void	rover_guidance_steering_kill (void)

Variables
rover_ctrl	guidance_control
	Mandatory dependencies header. More...
static struct PID_f	rover_pid
static float	time_step
static float	last_speed_cmd
static uint8_t	last_ap_mode

Macro Definition Documentation

AUTOPILOT_CORE_GUIDANCE_C

#define AUTOPILOT_CORE_GUIDANCE_C

Definition at line 22 of file rover_guidance_steering.c.

Function Documentation

rover_guidance_steering_heading_ctrl()

void rover_guidance_steering_heading_ctrl

(

float

omega

)

CTRL functions.

Definition at line 71 of file rover_guidance_steering.c.

References BoundDelta, BoundSpeed, rover_ctrl::cmd, sr_cmd_t::delta, DRIVE_SHAFT_DISTANCE, guidance_control, and stateGetHorizontalSpeedNorm_f().

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rover_guidance_steering_init()

void rover_guidance_steering_init

(

void

)

INIT function.

Steering rover guidance EXT FUNCTIONS.

Definition at line 49 of file rover_guidance_steering.c.

References AP_MODE_KILL, rover_ctrl::cmd, sr_cmd_t::delta, guidance_control, init_pid_f(), rover_ctrl::kf, rover_ctrl::ki, rover_ctrl::kp, last_ap_mode, last_speed_cmd, MAX_PPRZ, rover_pid, sr_cmd_t::speed, rover_ctrl::speed_error, SR_MEASURED_KF, rover_ctrl::throttle, and time_step.

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rover_guidance_steering_kill()

void rover_guidance_steering_kill

(

void

)

Definition at line 114 of file rover_guidance_steering.c.

References rover_ctrl::cmd, sr_cmd_t::delta, guidance_control, and sr_cmd_t::speed.

rover_guidance_steering_pid_reset()

void rover_guidance_steering_pid_reset

(

void

)

PID RESET function.

Definition at line 106 of file rover_guidance_steering.c.

References reset_pid_f(), rover_pid, and PID_f::sum.

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rover_guidance_steering_speed_ctrl()

void rover_guidance_steering_speed_ctrl

(

void

)

Definition at line 86 of file rover_guidance_steering.c.

References BoundThrottle, rover_ctrl::cmd, PID_f::g, get_pid_f(), guidance_control, rover_ctrl::kf, rover_ctrl::ki, rover_ctrl::kp, last_speed_cmd, rover_pid, set_gains_pid_f(), sr_cmd_t::speed, rover_ctrl::speed_error, stateGetHorizontalSpeedNorm_f(), rover_ctrl::throttle, time_step, and update_pid_f().

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Variable Documentation

guidance_control

rover_ctrl guidance_control

Mandatory dependencies header.

Definition at line 41 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_heading_ctrl(), rover_guidance_steering_init(), rover_guidance_steering_kill(), and rover_guidance_steering_speed_ctrl().

last_ap_mode

uint8_t last_ap_mode

static

Definition at line 46 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_init().

last_speed_cmd

float last_speed_cmd

static

Definition at line 45 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_init(), and rover_guidance_steering_speed_ctrl().

rover_pid

struct PID_f rover_pid

static

Definition at line 41 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_init(), rover_guidance_steering_pid_reset(), and rover_guidance_steering_speed_ctrl().

time_step

float time_step

static

Definition at line 44 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_init(), and rover_guidance_steering_speed_ctrl().