optical_flow_landing.h

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/*
 * Copyright (C) 2016
 *
 * 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 OPTICAL_FLOW_LANDING_H_
#define OPTICAL_FLOW_LANDING_H_
 
#include "std.h"
 
// maximum number of samples to learn from for SSL:
#define MAX_SAMPLES_LEARNING 25000
 
struct OpticalFlowLanding {
  float agl;                    
  float agl_lp;                 
  float lp_const;   
  float vel;                    
  float divergence_setpoint;    
  float pgain;                  
  float igain;                  
  float dgain;                  
  float divergence;             
  float previous_err;           
  float sum_err;                
  float d_err;                  
  float nominal_thrust;         
  uint32_t VISION_METHOD;       
  uint32_t CONTROL_METHOD;      
  float cov_set_point;          
  float cov_limit;              
  float pgain_adaptive;         
  float igain_adaptive;         
  float dgain_adaptive;         
  uint32_t COV_METHOD;          
  uint32_t delay_steps;         
  uint32_t window_size;         
  float reduction_factor_elc;   
  float lp_cov_div_factor;      
  float t_transition;           
  float p_land_threshold;       
  bool elc_oscillate;           
  // Added features for SSL:
  volatile bool
  learn_gains;    
  bool load_weights;            
  float close_to_edge;          
  bool use_bias;                
  bool snapshot;                
  float lp_factor_prediction;   
  float ramp_duration;          
  float pgain_horizontal_factor;
  float igain_horizontal_factor;
  float roll_trim;    
  float pitch_trim;   
  float omega_LR;   
  float omega_FB;   
  uint32_t active_motion; 
  float front_div_threshold; 
};
 
extern struct OpticalFlowLanding of_landing_ctrl;
 
extern void optical_flow_landing_init(void);
 
// FIXME Horizontal control have to be fixed before use
// Without optitrack set to: GUIDANCE_H_MODE_ATTITUDE
// With optitrack set to: GUIDANCE_H_MODE_HOVER / NAV (NAV is the common option in the experiments.)
 
// Implement own loop:
extern void guidance_module_enter(void);
extern void guidance_module_run(bool in_flight);
 
// SSL functions:
void save_texton_distribution(void);
void load_texton_distribution(void);
void fit_linear_model_OF(float *targets, float **samples, uint8_t D, uint16_t count, float *parameters,
                         float *fit_error);
void learn_from_file(void);
float predict_gain(float *distribution);
void save_weights(void);
void load_weights(void);
void recursive_least_squares_batch(float *targets, float **samples, uint8_t D, uint16_t count, float *params,
                                   float *fit_error);
void recursive_least_squares(float target, float *sample, uint8_t length_sample, float *params);
 
#endif /* OPTICAL_FLOW_LANDING_H_ */