rot_wing_automation.c File Reference

#include "modules/rot_wing_drone/rot_wing_automation.h"
#include "state.h"
#include "modules/datalink/telemetry.h"
#include "filters/low_pass_filter.h"
#include "math/pprz_algebra_float.h"
#include "modules/nav/waypoints.h"
#include "generated/modules.h"

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Macros
#define	ROT_WING_AUTOMATION_TRANS_ACCEL   1.0
#define	ROT_WING_AUTOMATION_TRANS_DECEL   0.5
#define	ROT_WING_AUTOMATION_TRANS_LENGTH   200.0
#define	ROT_WING_AUTOMATION_TRANS_AIRSPEED   15.0
#define	ROT_WING_AUTOMATION_WIND_FILT_CUTOFF   0.001

Functions
void	update_waypoint_rot_wing_automation (uint8_t wp_id, struct FloatVect3 *target_ned)
void	update_wind_vector (void)
void	init_rot_wing_automation (void)
void	periodic_rot_wing_automation (void)
void	rot_wing_vis_transition (uint8_t wp_transition_id, uint8_t wp_decel_id, uint8_t wp_end_id)

Variables
struct rot_wing_automation	rot_wing_a
Butterworth2LowPass	rot_wing_automation_wind_filter [2]

Detailed Description

Author

Dennis van Wijngaarden D.C.v.nosp@m.anWi.nosp@m.jngaa.nosp@m.rden.nosp@m.@tude.nosp@m.lft..nosp@m.nl Fucntions to automate the navigation and guidance of the rotating wing drone

Definition in file rot_wing_automation.c.

Macro Definition Documentation

ROT_WING_AUTOMATION_TRANS_ACCEL

#define ROT_WING_AUTOMATION_TRANS_ACCEL   1.0

Definition at line 38 of file rot_wing_automation.c.

ROT_WING_AUTOMATION_TRANS_AIRSPEED

#define ROT_WING_AUTOMATION_TRANS_AIRSPEED   15.0

Definition at line 53 of file rot_wing_automation.c.

ROT_WING_AUTOMATION_TRANS_DECEL

#define ROT_WING_AUTOMATION_TRANS_DECEL   0.5

Definition at line 43 of file rot_wing_automation.c.

ROT_WING_AUTOMATION_TRANS_LENGTH

#define ROT_WING_AUTOMATION_TRANS_LENGTH   200.0

Definition at line 48 of file rot_wing_automation.c.

ROT_WING_AUTOMATION_WIND_FILT_CUTOFF

#define ROT_WING_AUTOMATION_WIND_FILT_CUTOFF   0.001

Definition at line 58 of file rot_wing_automation.c.

Function Documentation

init_rot_wing_automation()

void init_rot_wing_automation

(

void

)

Definition at line 70 of file rot_wing_automation.c.

References init_butterworth_2_low_pass(), rot_wing_a, ROT_WING_AUTOMATION_TRANS_ACCEL, ROT_WING_AUTOMATION_TRANS_AIRSPEED, ROT_WING_AUTOMATION_TRANS_DECEL, ROT_WING_AUTOMATION_TRANS_LENGTH, ROT_WING_AUTOMATION_WIND_FILT_CUTOFF, rot_wing_automation_wind_filter, rot_wing_automation::trans_accel, rot_wing_automation::trans_airspeed, rot_wing_automation::trans_decel, rot_wing_automation::trans_length, rot_wing_automation::transitioned, rot_wing_automation::windvect, rot_wing_automation::windvect_f, FloatVect2::x, and FloatVect2::y.

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periodic_rot_wing_automation()

void periodic_rot_wing_automation

(

void

)

Definition at line 91 of file rot_wing_automation.c.

References rot_wing_a, stateGetAirspeed_f(), rot_wing_automation::trans_airspeed, rot_wing_automation::transitioned, and update_wind_vector().

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rot_wing_vis_transition()

void rot_wing_vis_transition	(	uint8_t	wp_transition_id,
		uint8_t	wp_decel_id,
		uint8_t	wp_end_id
	)

Definition at line 139 of file rot_wing_automation.c.

References eulers_zxy, float_eulers_of_quat_zxy(), ground_speed, FloatEulers::psi, rot_wing_a, stateGetAirspeed_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyQuat_f(), stateGetPositionNed_f(), rot_wing_automation::trans_accel, rot_wing_automation::trans_airspeed, rot_wing_automation::trans_decel, rot_wing_automation::trans_length, update_waypoint_rot_wing_automation(), VECT3_COPY, VECT3_SUM, FloatVect3::x, FloatVect3::y, FloatVect3::z, and NedCoor_f::z.

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update_waypoint_rot_wing_automation()

void update_waypoint_rot_wing_automation ( uint8_t  wp_id, struct FloatVect3 *  target_ned  )

inline

Definition at line 103 of file rot_wing_automation.c.

References DefaultChannel, DefaultDevice, ENU_OF_TO_NED, waypoint_set_enu(), waypoints, point::x, and point::y.

Referenced by rot_wing_vis_transition().

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update_wind_vector()

void update_wind_vector ( void  )

inline

Definition at line 121 of file rot_wing_automation.c.

References FloatEulers::psi, rot_wing_a, rot_wing_automation_wind_filter, stateGetAirspeed_f(), stateGetNedToBodyEulers_f(), stateGetSpeedNed_f(), update_butterworth_2_low_pass(), VECT2_DIFF, rot_wing_automation::windvect, rot_wing_automation::windvect_f, FloatVect2::x, and FloatVect2::y.

Referenced by periodic_rot_wing_automation().

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Variable Documentation

rot_wing_a

struct rot_wing_automation rot_wing_a

Definition at line 1 of file rot_wing_automation.c.

Referenced by init_rot_wing_automation(), periodic_rot_wing_automation(), rot_wing_vis_transition(), and update_wind_vector().

rot_wing_automation_wind_filter

Butterworth2LowPass rot_wing_automation_wind_filter[2]

Definition at line 64 of file rot_wing_automation.c.

Referenced by init_rot_wing_automation(), and update_wind_vector().