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Paparazzi UAS
v6.3_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Guiding vector field algorithm for 2D and 3D parametric trajectories. More...
#include "modules/guidance/gvf_parametric/trajectories/gvf_parametric_3d_ellipse.h"
#include "modules/guidance/gvf_parametric/trajectories/gvf_parametric_3d_lissajous.h"
#include "modules/guidance/gvf_parametric/trajectories/gvf_parametric_2d_trefoil.h"
Go to the source code of this file.
Data Structures | |
struct | gvf_parametric_con |
struct | gvf_parametric_tra |
Macros | |
#define | GVF_PARAMETRIC_GRAVITY 9.806 |
#define | GVF_PARAMETRIC_CONTROL_KROLL 1 |
#define | GVF_PARAMETRIC_CONTROL_KCLIMB 1 |
#define | GVF_PARAMETRIC_CONTROL_L 0.1 |
#define | GVF_PARAMETRIC_CONTROL_BETA 0.01 |
#define | GVF_PARAMETRIC_CONTROL_KPSI 1 |
#define | GVF_OCAML_GCS true |
Enumerations | |
enum | trajectories_parametric { TREFOIL_2D = 0 , ELLIPSE_3D = 1 , LISSAJOUS_3D = 2 , NONE_PARAMETRIC = 255 } |
Functions | |
void | gvf_parametric_init (void) |
void | gvf_parametric_set_direction (int8_t s) |
void | gvf_parametric_control_2D (float, float, float, float, float, float, float, float) |
void | gvf_parametric_control_3D (float, float, float, float, float, float, float, float, float, float, float, float) |
bool | gvf_parametric_2D_trefoil_XY (float, float, float, float, float, float, float) |
2D TRAJECTORIES More... | |
bool | gvf_parametric_2D_trefoil_wp (uint8_t, float, float, float, float, float) |
bool | gvf_parametric_3D_ellipse_XYZ (float, float, float, float, float, float) |
3D TRAJECTORIES More... | |
bool | gvf_parametric_3D_ellipse_wp (uint8_t, float, float, float, float) |
bool | gvf_parametric_3D_ellipse_wp_delta (uint8_t, float, float, float, float) |
bool | gvf_parametric_3D_lissajous_XYZ (float, float, float, float, float, float, float, float, float, float, float, float, float) |
bool | gvf_parametric_3D_lissajous_wp_center (uint8_t, float, float, float, float, float, float, float, float, float, float, float) |
Variables | |
gvf_parametric_con | gvf_parametric_control |
gvf_parametric_tra | gvf_parametric_trajectory |
Guiding vector field algorithm for 2D and 3D parametric trajectories.
Definition in file gvf_parametric.h.
struct gvf_parametric_con |
Definition at line 78 of file gvf_parametric.h.
Data Fields | ||
---|---|---|
float | beta | |
float | delta_T | |
float | k_climb | |
float | k_psi | |
float | k_roll | |
float | L | |
int8_t | s | |
float | w |
struct gvf_parametric_tra |
Definition at line 99 of file gvf_parametric.h.
Data Fields | ||
---|---|---|
float | p_parametric[16] | |
float | phi_errors[3] | |
enum trajectories_parametric | type |
#define GVF_OCAML_GCS true |
Default GCS trajectory painter
Definition at line 59 of file gvf_parametric.h.
#define GVF_PARAMETRIC_CONTROL_BETA 0.01 |
Default scale for w
Definition at line 49 of file gvf_parametric.h.
#define GVF_PARAMETRIC_CONTROL_KCLIMB 1 |
Default gain kclimb for tuning the climbing setting point
Definition at line 39 of file gvf_parametric.h.
#define GVF_PARAMETRIC_CONTROL_KPSI 1 |
Default gain kpsi for tuning the alignment of the vehicle with the vector field
Definition at line 54 of file gvf_parametric.h.
#define GVF_PARAMETRIC_CONTROL_KROLL 1 |
Default gain kroll for tuning the "coordinated turn"
Definition at line 34 of file gvf_parametric.h.
#define GVF_PARAMETRIC_CONTROL_L 0.1 |
Default scale for the error signals
Definition at line 44 of file gvf_parametric.h.
#define GVF_PARAMETRIC_GRAVITY 9.806 |
Definition at line 30 of file gvf_parametric.h.
Enumerator | |
---|---|
TREFOIL_2D | |
ELLIPSE_3D | |
LISSAJOUS_3D | |
NONE_PARAMETRIC |
Definition at line 92 of file gvf_parametric.h.
bool gvf_parametric_2D_trefoil_wp | ( | uint8_t | wp, |
float | w1, | ||
float | w2, | ||
float | ratio, | ||
float | r, | ||
float | alpha | ||
) |
Definition at line 344 of file gvf_parametric.cpp.
References alpha, gvf_parametric_2D_trefoil_XY(), gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, waypoints, EnuCoor_f::x, and EnuCoor_f::y.
bool gvf_parametric_2D_trefoil_XY | ( | float | xo, |
float | yo, | ||
float | w1, | ||
float | w2, | ||
float | ratio, | ||
float | r, | ||
float | alpha | ||
) |
2D TRAJECTORIES
Definition at line 322 of file gvf_parametric.cpp.
References alpha, gvf_parametric_2d_trefoil_info(), gvf_parametric_2d_trefoil_par, gvf_parametric_control_2D(), gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_par_2d_tre_par::kx, gvf_par_2d_tre_par::ky, gvf_parametric_tra::p_parametric, TREFOIL_2D, and gvf_parametric_tra::type.
Referenced by gvf_parametric_2D_trefoil_wp().
bool gvf_parametric_3D_ellipse_wp | ( | uint8_t | wp, |
float | r, | ||
float | zl, | ||
float | zh, | ||
float | alpha | ||
) |
Definition at line 391 of file gvf_parametric.cpp.
References alpha, gvf_parametric_3D_ellipse_XYZ(), gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, waypoints, EnuCoor_f::x, and EnuCoor_f::y.
bool gvf_parametric_3D_ellipse_wp_delta | ( | uint8_t | wp, |
float | r, | ||
float | alt_center, | ||
float | delta, | ||
float | alpha | ||
) |
Definition at line 400 of file gvf_parametric.cpp.
References alpha, gvf_parametric_3D_ellipse_XYZ(), waypoints, EnuCoor_f::x, and EnuCoor_f::y.
bool gvf_parametric_3D_ellipse_XYZ | ( | float | xo, |
float | yo, | ||
float | r, | ||
float | zl, | ||
float | zh, | ||
float | alpha | ||
) |
3D TRAJECTORIES
Definition at line 356 of file gvf_parametric.cpp.
References alpha, ELLIPSE_3D, gvf_parametric_3d_ellipse_info(), gvf_parametric_3d_ellipse_par, gvf_parametric_control_3D(), gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_trajectory, horizontal_mode, HORIZONTAL_MODE_CIRCLE, gvf_par_3d_ell_par::kx, gvf_par_3d_ell_par::ky, gvf_par_3d_ell_par::kz, gvf_parametric_tra::p_parametric, and gvf_parametric_tra::type.
Referenced by gvf_parametric_3D_ellipse_wp(), and gvf_parametric_3D_ellipse_wp_delta().
bool gvf_parametric_3D_lissajous_wp_center | ( | uint8_t | wp, |
float | zo, | ||
float | cx, | ||
float | cy, | ||
float | cz, | ||
float | wx, | ||
float | wy, | ||
float | wz, | ||
float | dx, | ||
float | dy, | ||
float | dz, | ||
float | alpha | ||
) |
Definition at line 446 of file gvf_parametric.cpp.
References alpha, gvf_parametric_3D_lissajous_XYZ(), gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_parametric_tra::p_parametric, waypoints, EnuCoor_f::x, and EnuCoor_f::y.
bool gvf_parametric_3D_lissajous_XYZ | ( | float | xo, |
float | yo, | ||
float | zo, | ||
float | cx, | ||
float | cy, | ||
float | cz, | ||
float | wx, | ||
float | wy, | ||
float | wz, | ||
float | dx, | ||
float | dy, | ||
float | dz, | ||
float | alpha | ||
) |
Definition at line 411 of file gvf_parametric.cpp.
References alpha, gvf_parametric_3d_lissajous_info(), gvf_parametric_3d_lissajous_par, gvf_parametric_control_3D(), gvf_parametric_plen, gvf_parametric_plen_wps, gvf_parametric_trajectory, gvf_par_3d_lis_par::kx, gvf_par_3d_lis_par::ky, gvf_par_3d_lis_par::kz, LISSAJOUS_3D, gvf_parametric_tra::p_parametric, and gvf_parametric_tra::type.
Referenced by gvf_parametric_3D_lissajous_wp_center().
void gvf_parametric_control_2D | ( | float | kx, |
float | ky, | ||
float | f1, | ||
float | f2, | ||
float | f1d, | ||
float | f2d, | ||
float | f1dd, | ||
float | f2dd | ||
) |
Definition at line 118 of file gvf_parametric.cpp.
References gvf_parametric_con::beta, course, gvf_parametric_con::delta_T, desired_x, desired_y, get_sys_time_msec(), ground_speed, gvf_parametric_control, gvf_parametric_elen, gvf_parametric_low_level_control_2D(), gvf_parametric_t0, gvf_parametric_trajectory, h(), I, J, gvf_parametric_con::k_psi, gvf_parametric_con::L, gvf_parametric_tra::phi_errors, gvf_parametric_con::s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), gvf_parametric_con::w, EnuCoor_f::x, mesonh.mesonh_atmosphere::X, and EnuCoor_f::y.
Referenced by gvf_parametric_2D_trefoil_XY().
void gvf_parametric_control_3D | ( | float | kx, |
float | ky, | ||
float | kz, | ||
float | f1, | ||
float | f2, | ||
float | f3, | ||
float | f1d, | ||
float | f2d, | ||
float | f3d, | ||
float | f1dd, | ||
float | f2dd, | ||
float | f3dd | ||
) |
Definition at line 212 of file gvf_parametric.cpp.
References gvf_parametric_con::beta, course, gvf_parametric_con::delta_T, desired_x, desired_y, E, get_sys_time_msec(), ground_speed, gvf_parametric_control, gvf_parametric_elen, gvf_parametric_low_level_control_3D(), gvf_parametric_t0, gvf_parametric_trajectory, h(), I, J, gvf_parametric_con::k_psi, gvf_parametric_con::L, gvf_parametric_tra::phi_errors, gvf_parametric_con::s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), gvf_parametric_con::w, EnuCoor_f::x, mesonh.mesonh_atmosphere::X, EnuCoor_f::y, and EnuCoor_f::z.
Referenced by gvf_parametric_3D_ellipse_XYZ(), and gvf_parametric_3D_lissajous_XYZ().
void gvf_parametric_init | ( | void | ) |
Definition at line 93 of file gvf_parametric.cpp.
References gvf_parametric_con::beta, DefaultPeriodic, gvf_parametric_con::delta_T, gvf_parametric_control, GVF_PARAMETRIC_CONTROL_BETA, GVF_PARAMETRIC_CONTROL_KCLIMB, GVF_PARAMETRIC_CONTROL_KPSI, GVF_PARAMETRIC_CONTROL_KROLL, GVF_PARAMETRIC_CONTROL_L, gvf_parametric_con::k_climb, gvf_parametric_con::k_psi, gvf_parametric_con::k_roll, gvf_parametric_con::L, register_periodic_telemetry(), gvf_parametric_con::s, send_gvf_parametric(), and gvf_parametric_con::w.
void gvf_parametric_set_direction | ( | int8_t | s | ) |
Definition at line 113 of file gvf_parametric.cpp.
References gvf_parametric_control, gvf_parametric_con::s, and s.
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extern |
Definition at line 44 of file gvf_parametric.cpp.
Referenced by gvf_parametric_2d_trefoil_info(), gvf_parametric_3d_ellipse_info(), gvf_parametric_3d_lissajous_info(), gvf_parametric_control_2D(), gvf_parametric_control_3D(), gvf_parametric_init(), gvf_parametric_low_level_control_2D(), gvf_parametric_low_level_control_3D(), gvf_parametric_set_direction(), and send_gvf_parametric().
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extern |
Definition at line 47 of file gvf_parametric.cpp.
Referenced by gvf_parametric_2d_trefoil_info(), gvf_parametric_2D_trefoil_wp(), gvf_parametric_2D_trefoil_XY(), gvf_parametric_3d_ellipse_info(), gvf_parametric_3D_ellipse_wp(), gvf_parametric_3D_ellipse_XYZ(), gvf_parametric_3d_lissajous_info(), gvf_parametric_3D_lissajous_wp_center(), gvf_parametric_3D_lissajous_XYZ(), gvf_parametric_control_2D(), gvf_parametric_control_3D(), and send_gvf_parametric().