Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
guidance_opticflow_hover.c File Reference

Optical-flow based control for Linux based systems. More...

+ Include dependency graph for guidance_opticflow_hover.c:

Go to the source code of this file.

Macros

#define VISION_VELOCITY_ESTIMATE_ID   ABI_BROADCAST
 Default sender to accect VELOCITY_ESTIMATE messages from. More...
 
#define CMD_OF_SAT   1500
 
#define VISION_PHI_PGAIN   400
 
#define VISION_PHI_IGAIN   20
 
#define VISION_THETA_PGAIN   400
 
#define VISION_THETA_IGAIN   20
 
#define VISION_DESIRED_VX   0
 
#define VISION_DESIRED_VY   0
 

Functions

static void stabilization_opticflow_vel_cb (uint8_t sender_id, uint32_t stamp, float vel_x, float vel_y, float vel_z, float noise_x, float noise_y, float noise_z)
 Update the controls on a new VELOCITY_ESTIMATE ABI message. More...
 
void guidance_h_module_init (void)
 Initialization of horizontal guidance module. More...
 
void guidance_h_module_enter (void)
 Horizontal guidance mode enter resets the errors and starts the controller. More...
 
void guidance_h_module_read_rc (void)
 Read the RC commands. More...
 
void guidance_h_module_run (bool in_flight)
 Main guidance loop. More...
 

Variables

static abi_event velocity_est_ev
 
struct opticflow_stab_t opticflow_stab
 

Detailed Description

Optical-flow based control for Linux based systems.

Control loops for optic flow based hovering. Computes setpoint for the lower level attitude stabilization to control horizontal velocity.

Definition in file guidance_opticflow_hover.c.

Macro Definition Documentation

◆ CMD_OF_SAT

#define CMD_OF_SAT   1500

Definition at line 47 of file guidance_opticflow_hover.c.

◆ VISION_DESIRED_VX

#define VISION_DESIRED_VX   0

Definition at line 70 of file guidance_opticflow_hover.c.

◆ VISION_DESIRED_VY

#define VISION_DESIRED_VY   0

Definition at line 75 of file guidance_opticflow_hover.c.

◆ VISION_PHI_IGAIN

#define VISION_PHI_IGAIN   20

Definition at line 55 of file guidance_opticflow_hover.c.

◆ VISION_PHI_PGAIN

#define VISION_PHI_PGAIN   400

Definition at line 50 of file guidance_opticflow_hover.c.

◆ VISION_THETA_IGAIN

#define VISION_THETA_IGAIN   20

Definition at line 65 of file guidance_opticflow_hover.c.

◆ VISION_THETA_PGAIN

#define VISION_THETA_PGAIN   400

Definition at line 60 of file guidance_opticflow_hover.c.

◆ VISION_VELOCITY_ESTIMATE_ID

#define VISION_VELOCITY_ESTIMATE_ID   ABI_BROADCAST

Default sender to accect VELOCITY_ESTIMATE messages from.

Definition at line 43 of file guidance_opticflow_hover.c.

Function Documentation

◆ guidance_h_module_enter()

void guidance_h_module_enter ( void  )

Horizontal guidance mode enter resets the errors and starts the controller.

Entering the horizontal module (user switched to module)

Definition at line 115 of file guidance_opticflow_hover.c.

References opticflow_stab_t::cmd, opticflow_stab_t::err_vx_int, opticflow_stab_t::err_vy_int, opticflow_stab, Int32Eulers::phi, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

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◆ guidance_h_module_init()

void guidance_h_module_init ( void  )

Initialization of horizontal guidance module.

Definition at line 105 of file guidance_opticflow_hover.c.

References stabilization_opticflow_vel_cb(), velocity_est_ev, and VISION_VELOCITY_ESTIMATE_ID.

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◆ guidance_h_module_read_rc()

void guidance_h_module_read_rc ( void  )

Read the RC commands.

Definition at line 130 of file guidance_opticflow_hover.c.

◆ guidance_h_module_run()

void guidance_h_module_run ( bool  in_flight)

Main guidance loop.

Parameters
[in]in_flightWhether we are in flight or not

Definition at line 139 of file guidance_opticflow_hover.c.

References opticflow_stab_t::cmd, opticflow_stab, stabilization_attitude_run(), and stabilization_attitude_set_rpy_setpoint_i().

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◆ stabilization_opticflow_vel_cb()

static void stabilization_opticflow_vel_cb ( uint8_t  sender_id,
uint32_t  stamp,
float  vel_x,
float  vel_y,
float  vel_z,
float  noise_x,
float  noise_y,
float  noise_z 
)
static

Variable Documentation

◆ opticflow_stab

struct opticflow_stab_t opticflow_stab
Initial value:
= {
.phi_pgain = VISION_PHI_PGAIN,
.phi_igain = VISION_PHI_IGAIN,
.theta_pgain = VISION_THETA_PGAIN,
.theta_igain = VISION_THETA_IGAIN,
.desired_vx = VISION_DESIRED_VX,
.desired_vy = VISION_DESIRED_VY
}

Definition at line 90 of file guidance_opticflow_hover.c.

Referenced by guidance_h_module_enter(), guidance_h_module_run(), and stabilization_opticflow_vel_cb().

◆ velocity_est_ev

abi_event velocity_est_ev
static

Definition at line 87 of file guidance_opticflow_hover.c.

Referenced by guidance_h_module_init().

VISION_PHI_PGAIN
#define VISION_PHI_PGAIN
Definition: guidance_opticflow_hover.c:50
VISION_PHI_IGAIN
#define VISION_PHI_IGAIN
Definition: guidance_opticflow_hover.c:55
VISION_DESIRED_VY
#define VISION_DESIRED_VY
Definition: guidance_opticflow_hover.c:75
VISION_THETA_IGAIN
#define VISION_THETA_IGAIN
Definition: guidance_opticflow_hover.c:65
VISION_DESIRED_VX
#define VISION_DESIRED_VX
Definition: guidance_opticflow_hover.c:70
VISION_THETA_PGAIN
#define VISION_THETA_PGAIN
Definition: guidance_opticflow_hover.c:60