Paparazzi UAS  v6.3_unstable
Paparazzi is a free software Unmanned Aircraft System.
rover_guidance_holonomic.c File Reference

Basic guidance for rover. More...

#include "firmwares/rover/guidance/rover_guidance_holonomic.h"
#include "generated/airframe.h"
#include "generated/autopilot_core_guidance.h"
#include "state.h"
#include "modules/datalink/telemetry.h"
+ Include dependency graph for rover_guidance_holonomic.c:

Go to the source code of this file.


#define MAX_POS_ERR   10.f
#define MAX_SPEED_ERR   10.f
#define MAX_INTEGRAL_CMD   (MAX_PPRZ / 10.f)
#define PROXIMITY_DIST   0.2f


void rover_holo_guidance_init (void)
void rover_holo_guidance_periodic (void)
static float compute_pid (struct RoverHoloGuidancePID *pid)
void rover_holo_guidance_run (float *heading_sp)
void rover_holo_guidance_enter (void)
void rover_guidance_holonomic_set_speed_igain (float igain)
void rover_guidance_holonomic_set_turn_igain (float igain)


struct RoverHoloGuidance rover_holo_guidance

Detailed Description

Basic guidance for rover.

Implement standard PID control loop to track a navigation target. Guidance "modes" are using the autopilot generation with the "guidance" state machine.

Definition in file rover_guidance_holonomic.c.

Macro Definition Documentation



Definition at line 29 of file rover_guidance_holonomic.c.


#define MAX_INTEGRAL_CMD   (MAX_PPRZ / 10.f)

Definition at line 81 of file rover_guidance_holonomic.c.


#define MAX_POS_ERR   10.f

Definition at line 79 of file rover_guidance_holonomic.c.


#define MAX_SPEED_ERR   10.f

Definition at line 80 of file rover_guidance_holonomic.c.


#define PROXIMITY_DIST   0.2f

Definition at line 82 of file rover_guidance_holonomic.c.

Function Documentation

◆ compute_pid()

static float compute_pid ( struct RoverHoloGuidancePID pid)

◆ rover_guidance_holonomic_set_speed_igain()

void rover_guidance_holonomic_set_speed_igain ( float  igain)

◆ rover_guidance_holonomic_set_turn_igain()

void rover_guidance_holonomic_set_turn_igain ( float  igain)

◆ rover_holo_guidance_enter()

void rover_holo_guidance_enter ( void  )

◆ rover_holo_guidance_init()

◆ rover_holo_guidance_periodic()

void rover_holo_guidance_periodic ( void  )

Definition at line 68 of file rover_guidance_holonomic.c.

◆ rover_holo_guidance_run()

Variable Documentation

◆ rover_holo_guidance