Obstacle avoidance methods. More...

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Functions
void	serial_init (void)

void	serial_update (void)

void	serial_start (void)

void	setAnglesMeasurements (float anglesMeasurements, float centersensorRad, float fieldOfViewRad, uint16_t size_matrix_local)

void	pingpong_euler (float distances_hor, float horizontalAnglesMeasurements, int horizontalAmountOfMeasurements, float attitude_reference_pitch, float attitude_reference_roll, float dist_treshold)

void	matrix_2_pingpong (float distancesMeters, uint16_t size_matrix, float *distances_hor)

void	CN_matrix_Kalman_filter (void)

void	CN_matrix_butterworth (void)

void	CN_calculate_target (void)

void	CN_potential_heading (void)

void	CN_potential_velocity (void)

void	CN_vector_velocity (void)

void	CN_vector_escape_velocity (void)

void	CN_escape_velocity (void)

Variables
float	F1

float	F2

float	Cfreq

float	Ko

float	Kg

float	Dist_offset

int8_t	dis_treshold

float	dx_ref

float	dy_ref

float	K_goal

float	K_obst

float	b_damp

float	c1_oa

float	c2_oa

float	c3_oa

float	c4_oa

float	c5_oa

float	kv

float	epsilon

Detailed Description

Obstacle avoidance methods.

Definition in file obstacle_avoidance.h.

Function Documentation

◆ CN_calculate_target()

void CN_calculate_target ( void )

Definition at line 321 of file obstacle_avoidance.c.

References current_pos, dx_ref, dy_ref, heading_goal_f, init_target, OA_method_flag, pos_diff, FloatEulers::psi, stateGetNedToBodyEulers_f(), stateGetPositionNed_f(), target, waypoint_rot, FloatVect2::x, NedCoor_f::x, FloatVect2::y, and NedCoor_f::y.

Referenced by serial_update().

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◆ CN_escape_velocity()

void CN_escape_velocity ( void )

Definition at line 1032 of file obstacle_avoidance.c.

References angle_hor_board, baseline, direction, FLOAT_ANGLE_NORMALIZE, focal, heading_goal_f, heading_goal_ref, min_disparity, new_heading, new_heading_old, obstacle_flag, pos_diff, FloatEulers::psi, ref_pitch, ref_roll, set_bias, size_matrix, speed_pot, stateGetNedToBodyEulers_f(), stereo_fow, VECT2_NORM2, vref_max, and waypoint_rot.

Referenced by serial_update().

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◆ CN_matrix_butterworth()

void CN_matrix_butterworth ( void )

Definition at line 295 of file obstacle_avoidance.c.

References butter_old, READimageBuffer_old, and size_matrix.

◆ CN_matrix_Kalman_filter()

void CN_matrix_Kalman_filter ( void )

Definition at line 263 of file obstacle_avoidance.c.

References A_kal, H_kal, Pest_new, Q_kal, R_kal, size_matrix, and Xest_new.

◆ CN_potential_heading()

void CN_potential_heading ( void )

Definition at line 404 of file obstacle_avoidance.c.

References angle_hor_board, b_damp, baseline, c1_oa, c2_oa, c3_oa, c4_oa, epsilon, FLOAT_ANGLE_NORMALIZE, focal, heading_goal_f, heading_goal_ref, K_goal, K_obst, kv, min_disparity, pos_diff, FloatEulers::psi, FloatRates::r, r_dot_new, size_matrix, speed_pot, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), stereo_fow, VECT2_NORM2, and vref_max.

Referenced by serial_update().

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◆ CN_potential_velocity()

void CN_potential_velocity ( void )

Definition at line 506 of file obstacle_avoidance.c.

References alpha_fil, angle_hor_board, b_damp, baseline, c1_oa, c2_oa, c3_oa, c4_oa, epsilon, FLOAT_ANGLE_NORMALIZE, focal, heading_goal_f, heading_goal_ref, K_goal, K_obst, kv, min_disparity, new_heading, pos_diff, FloatEulers::psi, FloatRates::r, r_dot_new, ref_pitch, size_matrix, speed_pot, stateGetBodyRates_f(), stateGetNedToBodyEulers_f(), stereo_fow, VECT2_NORM2, vmin, and vref_max.

Referenced by serial_update().

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◆ CN_vector_escape_velocity()

void CN_vector_escape_velocity ( void )

Definition at line 777 of file obstacle_avoidance.c.

References angle_hor_board, Attractforce_goal, baseline, Cfreq, direction, Dist_offset, escape_flag, F1, F2, filter_repforce_old, FLOAT_ANGLE_NORMALIZE, focal, heading_goal_f, heading_goal_ref, Kg, Ko, min_disparity, new_heading, new_heading_old, obstacle_flag, pos_diff, FloatEulers::psi, ref_pitch, ref_roll, repulsionforce_filter_flag, Repulsionforce_Kan, Repulsionforce_Kan_old, Repulsionforce_Used, set_bias, size_matrix, speed_pot, stateGetNedToBodyEulers_f(), stereo_fow, v_max, v_min, VECT2_NORM2, VECT3_ADD, VECT3_COPY, VECT3_SMUL, vref_max, waypoint_rot, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by serial_update().

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◆ CN_vector_velocity()

void CN_vector_velocity ( void )

Definition at line 590 of file obstacle_avoidance.c.

References angle_hor_board, Attractforce_goal, baseline, Cfreq, Dist_offset, F1, F2, filter_repforce_old, focal, heading_goal_f, heading_goal_ref, hysteris_flag, Kg, Ko, min_disparity, pos_diff, FloatEulers::psi, ref_pitch, ref_roll, repulsionforce_filter_flag, Repulsionforce_Kan, Repulsionforce_Kan_old, Repulsionforce_Used, size_matrix, stateGetNedToBodyEulers_f(), stereo_fow, V_hys_high, V_hys_low, VECT2_NORM2, VECT3_ADD, VECT3_COPY, VECT3_SMUL, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by serial_update().

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◆ matrix_2_pingpong()

void matrix_2_pingpong	(	float *	distancesMeters,
		uint16_t *	size_matrix,
		float *	distances_hor
	)

Definition at line 237 of file obstacle_avoidance.c.

References AVOIDANCES_DISTANCES_HOR_COUNT.

Referenced by serial_update().

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◆ pingpong_euler()

void pingpong_euler	(	float *	distances_hor,
		float *	horizontalAnglesMeasurements,
		int	horizontalAmountOfMeasurements,
		float	attitude_reference_pitch,
		float	attitude_reference_roll,
		float	dist_treshold
	)