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gvf_parametric.h
Go to the documentation of this file.
1
/*
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* Copyright (C) 2020 Hector Garcia de Marina <hgarciad@ucm.es>
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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
13
* 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, see
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* <http://www.gnu.org/licenses/>.
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*/
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#ifndef GVF_PARAMETRIC_H
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#define GVF_PARAMETRIC_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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#ifdef __cplusplus
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extern
"C"
{
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#endif
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#include "
modules/guidance/gvf_common.h
"
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#include "
modules/guidance/trajectories/gvf_param_traj.h
"
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50
typedef
struct
{
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float
w
;
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float
delta_T
;
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int8_t
s
;
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float
k_psi
;
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float
L
;
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float
beta
;
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}
gvf_parametric_con
;
50
typedef
struct
{
…
};
58
59
typedef
struct
{
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float
phi_errors[3];
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int
e_len
;
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uint32_t
splines_ctr
;
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}
gvf_parametric_tel
;
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typedef
struct
{
…
};
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extern
gvf_parametric_con
gvf_parametric_control
;
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extern
gvf_parametric_tel
gvf_parametric_telemetry
;
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// Init function
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extern
void
gvf_parametric_init
(
void
);
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// Control functions
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extern
void
gvf_parametric_set_direction
(
int8_t
s
);
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extern
void
gvf_parametric_control_2D
(
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
);
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extern
void
gvf_parametric_control_3D
(
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
float
,
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float
,
float
,
float
);
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#ifdef __cplusplus
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}
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#endif
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81
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#endif
// GVF_PARAMETRIC_H
gvf_common.h
gvf_param_traj.h
gvf_parametric_control
gvf_parametric_con gvf_parametric_control
Definition
gvf_parametric.cpp:64
gvf_parametric_control_3D
void gvf_parametric_control_3D(float, float, float, float, float, float, float, float, float, float, float, float)
gvf_parametric_control_2D
void gvf_parametric_control_2D(float, float, float, float, float, float, float, float)
Definition
gvf_parametric.cpp:137
gvf_parametric_con::k_psi
float k_psi
Definition
gvf_parametric.h:54
gvf_parametric_con::delta_T
float delta_T
Definition
gvf_parametric.h:52
gvf_parametric_con::w
float w
Definition
gvf_parametric.h:51
gvf_parametric_tel::splines_ctr
uint32_t splines_ctr
Definition
gvf_parametric.h:62
gvf_parametric_con::s
int8_t s
Definition
gvf_parametric.h:53
gvf_parametric_init
void gvf_parametric_init(void)
Definition
gvf_parametric.cpp:117
gvf_parametric_con::beta
float beta
Definition
gvf_parametric.h:56
gvf_parametric_con::L
float L
Definition
gvf_parametric.h:55
gvf_parametric_tel::e_len
int e_len
Definition
gvf_parametric.h:61
gvf_parametric_telemetry
gvf_parametric_tel gvf_parametric_telemetry
Definition
gvf_parametric.cpp:65
gvf_parametric_set_direction
void gvf_parametric_set_direction(int8_t s)
Definition
gvf_parametric.cpp:347
gvf_parametric_con
Definition
gvf_parametric.h:50
gvf_parametric_tel
Definition
gvf_parametric.h:59
s
static uint32_t s
Definition
light_scheduler.c:33
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition
vl53l1_types.h:78
int8_t
signed char int8_t
Typedef defining 8 bit char type.
Definition
vl53l1_types.h:103
sw
airborne
modules
guidance
gvf_parametric
gvf_parametric.h
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