Paparazzi UAS
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Paparazzi is a free software Unmanned Aircraft System.
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gvf.h
Go to the documentation of this file.
1
/*
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* Copyright (C) 2016 Hector Garcia de Marina
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#ifndef GVF_H
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#define GVF_H
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#ifndef GVF_OCAML_GCS
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#define GVF_OCAML_GCS true
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#endif
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#include "
std.h
"
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#include "
modules/guidance/gvf_common.h
"
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#include "
modules/guidance/trajectories/gvf_traj.h
"
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typedef
struct
{
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float
ke
;
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float
kn
;
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float
error
;
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float
error_n
;
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float
speed
;
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int8_t
s
;
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bool
align
;
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}
gvf_con
;
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typedef
struct
{
…
};
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typedef
struct
{
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float
n_norm
;
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float
t_norm
;
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float
omega_d
;
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float
omega
;
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}
gvf_tel
;
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typedef
struct
{
…
};
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// Extern structs
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extern
gvf_con
gvf_control
;
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extern
void
gvf_init
(
void
);
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extern
void
gvf_control_2D
(
float
ke,
float
kn,
float
e,
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struct
gvf_grad
*,
struct
gvf_Hess
*);
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extern
void
gvf_set_speed
(
float
speed);
// Rotorcraft only (for now)
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extern
void
gvf_set_align
(
bool
align);
// Rotorcraft only
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extern
void
gvf_set_direction
(
int8_t
s
);
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#endif
// GVF_H
gvf_con::ke
float ke
Definition
gvf.h:54
gvf_con::error
float error
Definition
gvf.h:56
gvf_con::error_n
float error_n
Definition
gvf.h:57
gvf_con::speed
float speed
Definition
gvf.h:58
gvf_tel::omega
float omega
Definition
gvf.h:67
gvf_con::s
int8_t s
Definition
gvf.h:59
gvf_set_align
void gvf_set_align(bool align)
Definition
gvf.c:245
gvf_tel::omega_d
float omega_d
Definition
gvf.h:66
gvf_tel::n_norm
float n_norm
Definition
gvf.h:64
gvf_control
gvf_con gvf_control
Definition
gvf.c:30
gvf_init
void gvf_init(void)
EXTERN FUNCTIONS ----------------------------------------------------—.
Definition
gvf.c:85
gvf_set_speed
void gvf_set_speed(float speed)
Definition
gvf.c:239
gvf_con::align
bool align
Definition
gvf.h:60
gvf_set_direction
void gvf_set_direction(int8_t s)
Definition
gvf.c:232
gvf_control_2D
void gvf_control_2D(float ke, float kn, float e, struct gvf_grad *, struct gvf_Hess *)
Definition
gvf.c:100
gvf_con::kn
float kn
Definition
gvf.h:55
gvf_tel::t_norm
float t_norm
Definition
gvf.h:65
gvf_con
Definition
gvf.h:53
gvf_tel
Definition
gvf.h:63
gvf_common.h
gvf_traj.h
gvf_Hess
Definition
gvf_traj.h:45
gvf_grad
Definition
gvf_traj.h:39
s
static uint32_t s
Definition
light_scheduler.c:33
std.h
int8_t
signed char int8_t
Typedef defining 8 bit char type.
Definition
vl53l1_types.h:103
sw
airborne
modules
guidance
gvf
gvf.h
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