gvf_common.h File Reference

#include "std.h"

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Data Structures
struct	gvf_common_state
struct	gvf_common_ctrl
struct	gvf_common_info
struct	gvf_common_params

Macros
#define	GVF_GRAVITY   9.806

Functions
void	gvf_low_level_getState (void)
void	gvf_low_level_control_2D (float omega)
void	gvf_low_level_control_3D (float heading_rate, float climbing_rate)
bool	gvf_nav_approaching (float wp_x, float wp_y, float from_x, float from_y, float t)

Variables
gvf_common_state	gvf_c_state
gvf_common_ctrl	gvf_c_ctrl
gvf_common_info	gvf_c_info
gvf_common_params	gvf_c_params

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Data Structure Documentation

gvf_common_state

struct gvf_common_state

Definition at line 61 of file gvf_common.h.

Data Fields
float	course
float	px
float	px_dot
float	py
float	py_dot

gvf_common_ctrl

struct gvf_common_ctrl

Definition at line 73 of file gvf_common.h.

Data Fields
float	omega

gvf_common_info

struct gvf_common_info

Definition at line 82 of file gvf_common.h.

Data Fields
float	kappa
float	ori_err

gvf_common_params

struct gvf_common_params

Definition at line 92 of file gvf_common.h.

Data Fields
float	k_climb
float	k_roll

Macro Definition Documentation

GVF_GRAVITY

#define GVF_GRAVITY   9.806

Definition at line 54 of file gvf_common.h.

Function Documentation

gvf_low_level_control_2D()

void gvf_low_level_control_2D ( float  omega )

extern

Definition at line 58 of file gvf_common.c.

References AP_MODE_AUTO2, autopilot_get_mode(), foo, ground_speed, gvf_c_ctrl, gvf_c_params, GVF_GRAVITY, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, gvf_common_params::k_roll, lateral_mode, LATERAL_MODE_ROLL, gvf_common_ctrl::omega, stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by gvf_control_2D(), gvf_ik_control_2D(), gvf_low_level_control_3D(), and gvf_parametric_control_2D().

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gvf_low_level_control_3D()

void gvf_low_level_control_3D ( float  heading_rate, float  climbing_rate  )

extern

Definition at line 79 of file gvf_common.c.

References AP_MODE_AUTO2, autopilot_get_mode(), foo, ground_speed, gvf_c_params, GVF_GRAVITY, gvf_low_level_control_2D(), h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, gvf_common_params::k_climb, gvf_common_params::k_roll, lateral_mode, LATERAL_MODE_ROLL, stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), FloatEulers::theta, v_ctl_climb_setpoint, v_ctl_mode, V_CTL_MODE_AUTO_CLIMB, v_ctl_speed_mode, and V_CTL_SPEED_THROTTLE.

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gvf_low_level_getState()

void gvf_low_level_getState ( void  )

extern

---

Definition at line 37 of file gvf_common.c.

References gvf_common_state::course, foo, ground_speed, gvf_c_state, FloatEulers::psi, gvf_common_state::px, gvf_common_state::px_dot, gvf_common_state::py, gvf_common_state::py_dot, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_control_2D(), and gvf_ik_control_2D().

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gvf_nav_approaching()

bool gvf_nav_approaching ( float  wp_x, float  wp_y, float  from_x, float  from_y, float  t  )

extern

Definition at line 106 of file gvf_common.c.

References foo, nav, RotorcraftNavigation::nav_approaching, nav_approaching_xy(), EnuCoor_f::x, and EnuCoor_f::y.

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Variable Documentation

gvf_c_ctrl

gvf_common_ctrl gvf_c_ctrl

extern

---

Definition at line 28 of file gvf_common.c.

Referenced by gvf_low_level_control_2D(), and gvf_parametric_control_2D().

gvf_c_info

gvf_common_info gvf_c_info

extern

Definition at line 29 of file gvf_common.c.

Referenced by gvf_control_2D(), gvf_ik_control_2D(), and gvf_parametric_control_2D().

gvf_c_params

gvf_common_params gvf_c_params

extern

Definition at line 30 of file gvf_common.c.

Referenced by gvf_low_level_control_2D(), gvf_low_level_control_3D(), and gvf_parametric_init().

gvf_c_state

gvf_common_state gvf_c_state

extern

Definition at line 33 of file gvf_common.c.

Referenced by gvf_control_2D(), gvf_ik_control_2D(), and gvf_low_level_getState().