gvf_parametric.h

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/*
 * Copyright (C) 2020 Hector Garcia de Marina <hgarciad@ucm.es>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef GVF_PARAMETRIC_H
#define GVF_PARAMETRIC_H
 
#define GVF_PARAMETRIC_GRAVITY 9.806
 
#ifndef GVF_PARAMETRIC_CONTROL_KROLL
#define GVF_PARAMETRIC_CONTROL_KROLL 1
#endif
 
#ifndef GVF_PARAMETRIC_CONTROL_KCLIMB
#define GVF_PARAMETRIC_CONTROL_KCLIMB 1
#endif
 
#ifndef GVF_PARAMETRIC_CONTROL_L
#define GVF_PARAMETRIC_CONTROL_L 0.1
#endif
 
#ifndef GVF_PARAMETRIC_CONTROL_BETA
#define GVF_PARAMETRIC_CONTROL_BETA 0.01
#endif
 
#ifndef GVF_PARAMETRIC_CONTROL_KPSI
#define GVF_PARAMETRIC_CONTROL_KPSI 1
#endif
 
#ifndef GVF_OCAML_GCS
#define GVF_OCAML_GCS true
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
#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"
#include "modules/guidance/gvf_parametric/trajectories/gvf_parametric_2d_bezier_splines.h"
 
typedef struct {
  float w;
  float delta_T;
  int8_t s;
  float k_roll;
  float k_climb;
  float k_psi;
  float L;
  float beta;
} gvf_parametric_con;
 
extern gvf_parametric_con gvf_parametric_control;
 
// Parameters for the trajectories
enum trajectories_parametric {
  TREFOIL_2D = 0,
  ELLIPSE_3D = 1,
  LISSAJOUS_3D = 2,
  BEZIER_2D = 3,
  NONE_PARAMETRIC = 255,
};
 
typedef struct {
  enum trajectories_parametric type;
  float p_parametric[16];
  float phi_errors[3];
} gvf_parametric_tra;
 
extern gvf_parametric_tra gvf_parametric_trajectory;
 
// Bezier struct
extern bezier_t gvf_bezier_2D[GVF_PARAMETRIC_2D_BEZIER_N_SEG];
 
// Init function
extern void gvf_parametric_init(void);
 
// Control functions
extern void gvf_parametric_set_direction(int8_t s);
extern void gvf_parametric_control_2D(float, float, float, float, float, float, float, float);
extern void gvf_parametric_control_3D(float, float, float, float, float, float, float, float, float,
                                      float, float, float);
 
// 2D Trefoil
extern bool gvf_parametric_2D_trefoil_XY(float, float, float, float, float, float, float);
extern bool gvf_parametric_2D_trefoil_wp(uint8_t, float, float, float, float, float);
 
// 2D BEZIER
extern bool gvf_parametric_2D_bezier_wp(uint8_t);
extern bool gvf_parametric_2D_bezier_XY(void);
 
// 3D Ellipse
extern bool gvf_parametric_3D_ellipse_XYZ(float, float, float, float, float, float);
extern bool gvf_parametric_3D_ellipse_wp(uint8_t, float, float, float, float);
extern bool gvf_parametric_3D_ellipse_wp_delta(uint8_t, float, float, float, float);
 
// 3D Lissajous
extern bool gvf_parametric_3D_lissajous_XYZ(float, float, float, float, float, float, float, float, float, float, float,
    float, float);
extern bool gvf_parametric_3D_lissajous_wp_center(uint8_t, float, float, float, float, float, float, float, float,
    float, float, float);
 
#ifdef __cplusplus
}
#endif
 
 
#endif // GVF_PARAMETRIC_H