rover_guidance_steering.c File Reference

#include "firmwares/rover/guidance/rover_guidance_steering.h"
#include "generated/airframe.h"
#include "generated/autopilot_core_guidance.h"
#include "autopilot.h"
#include "state.h"
#include "filters/pid.h"

Include dependency graph for rover_guidance_steering.c:

Go to the source code of this file.

Macros
#define	AUTOPILOT_CORE_GUIDANCE_C
#define	ROVER_GUIDANCE_POS_KP   1.f
	Mandatory dependencies header.
#define	ROVER_GUIDANCE_HEADING_KP   1.f
#define	ROVER_GUIDANCE_SPEED_KP   10.f
#define	ROVER_GUIDANCE_SPEED_KI   100.f
#define	ROVER_GUIDANCE_MAX_POS_ERR   10.f
#define	ROVER_GUIDANCE_MAX_SPEED   10.f
#define	ROVER_GUIDANCE_PROXIMITY_DISTANCE   2.f

Functions
void	rover_guidance_steering_init (void)
	INIT function.
void	rover_guidance_steering_periodic (void)
void	rover_guidance_steering_heading_ctrl (float omega)
	CTRL functions.
void	rover_guidance_steering_speed_ctrl (void)
void	rover_guidance_steering_setpoints (struct EnuCoor_f pos_sp, float *heading_sp)
void	rover_guidance_steering_pid_reset (void)
	PID RESET function.
void	rover_guidance_steering_kill (void)
void	rover_guidance_steering_set_speed_pgain (float pgain)
void	rover_guidance_steering_set_speed_igain (float igain)

Variables
rover_ctrl	guidance_control
static struct PID_f	rover_pid
static float	time_step

Macro Definition Documentation

AUTOPILOT_CORE_GUIDANCE_C

#define AUTOPILOT_CORE_GUIDANCE_C

Definition at line 23 of file rover_guidance_steering.c.

ROVER_GUIDANCE_HEADING_KP

#define ROVER_GUIDANCE_HEADING_KP   1.f

Definition at line 41 of file rover_guidance_steering.c.

ROVER_GUIDANCE_MAX_POS_ERR

#define ROVER_GUIDANCE_MAX_POS_ERR   10.f

Definition at line 53 of file rover_guidance_steering.c.

ROVER_GUIDANCE_MAX_SPEED

#define ROVER_GUIDANCE_MAX_SPEED   10.f

Definition at line 57 of file rover_guidance_steering.c.

ROVER_GUIDANCE_POS_KP

#define ROVER_GUIDANCE_POS_KP   1.f

Mandatory dependencies header.

Definition at line 37 of file rover_guidance_steering.c.

ROVER_GUIDANCE_PROXIMITY_DISTANCE

#define ROVER_GUIDANCE_PROXIMITY_DISTANCE   2.f

Definition at line 61 of file rover_guidance_steering.c.

ROVER_GUIDANCE_SPEED_KI

#define ROVER_GUIDANCE_SPEED_KI   100.f

Definition at line 49 of file rover_guidance_steering.c.

ROVER_GUIDANCE_SPEED_KP

#define ROVER_GUIDANCE_SPEED_KP   10.f

Definition at line 45 of file rover_guidance_steering.c.

Function Documentation

rover_guidance_steering_heading_ctrl()

void rover_guidance_steering_heading_ctrl

(

float

omega

)

CTRL functions.

Definition at line 98 of file rover_guidance_steering.c.

References BoundDelta, BoundSpeed, rover_ctrl::cmd, sr_cmd_t::delta, DRIVE_SHAFT_DISTANCE, foo, guidance_control, and stateGetHorizontalSpeedNorm_f().

Here is the call graph for this function:

rover_guidance_steering_init()

void rover_guidance_steering_init

(

void

)

INIT function.

Steering rover guidance EXT FUNCTIONS.

Definition at line 71 of file rover_guidance_steering.c.

References rover_ctrl::cmd, sr_cmd_t::delta, foo, guidance_control, rover_ctrl::heading_kp, init_pid_f(), rover_ctrl::kf, rover_ctrl::ki, rover_ctrl::kp, MAX_PPRZ, rover_ctrl::pos_kp, ROVER_GUIDANCE_HEADING_KP, ROVER_GUIDANCE_POS_KP, ROVER_GUIDANCE_SPEED_KI, ROVER_GUIDANCE_SPEED_KP, rover_pid, sr_cmd_t::speed, rover_ctrl::speed_error, SR_MEASURED_KF, rover_ctrl::throttle, and time_step.

Here is the call graph for this function:

rover_guidance_steering_kill()

void rover_guidance_steering_kill

(

void

)

Definition at line 156 of file rover_guidance_steering.c.

References rover_ctrl::cmd, sr_cmd_t::delta, guidance_control, and sr_cmd_t::speed.

rover_guidance_steering_periodic()

void rover_guidance_steering_periodic

(

void

)

Definition at line 90 of file rover_guidance_steering.c.

References foo.

rover_guidance_steering_pid_reset()

void rover_guidance_steering_pid_reset

(

void

)

PID RESET function.

Definition at line 151 of file rover_guidance_steering.c.

References reset_pid_f(), and rover_pid.

Here is the call graph for this function:

rover_guidance_steering_set_speed_igain()

void rover_guidance_steering_set_speed_igain

(

float

igain

)

Definition at line 168 of file rover_guidance_steering.c.

References guidance_control, rover_ctrl::ki, rover_ctrl::kp, rover_pid, set_gains_pid_f(), and PID_f::sum.

Here is the call graph for this function:

rover_guidance_steering_set_speed_pgain()

void rover_guidance_steering_set_speed_pgain

(

float

pgain

)

Definition at line 162 of file rover_guidance_steering.c.

References guidance_control, rover_ctrl::ki, rover_ctrl::kp, rover_pid, and set_gains_pid_f().

Here is the call graph for this function:

rover_guidance_steering_setpoints()

void rover_guidance_steering_setpoints	(	struct EnuCoor_f	pos_sp,
		float *	heading_sp
	)

Definition at line 118 of file rover_guidance_steering.c.

References rover_ctrl::cmd, float_vect2_norm(), foo, guidance_control, rover_ctrl::heading_kp, rover_ctrl::heading_sp, rover_ctrl::omega_sp, rover_ctrl::pos_kp, FloatEulers::psi, ROVER_GUIDANCE_MAX_POS_ERR, ROVER_GUIDANCE_MAX_SPEED, ROVER_GUIDANCE_PROXIMITY_DISTANCE, sr_cmd_t::speed, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), VECT2_COPY, and VECT2_DIFF.

Here is the call graph for this function:

rover_guidance_steering_speed_ctrl()

void rover_guidance_steering_speed_ctrl

(

void

)

Definition at line 109 of file rover_guidance_steering.c.

References BoundThrottle, rover_ctrl::cmd, get_pid_f(), guidance_control, rover_ctrl::kf, rover_pid, sr_cmd_t::speed, rover_ctrl::speed_error, stateGetHorizontalSpeedNorm_f(), rover_ctrl::throttle, time_step, and update_pid_f().

Here is the call graph for this function:

Variable Documentation

guidance_control

rover_ctrl guidance_control

Definition at line 65 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_heading_ctrl(), rover_guidance_steering_init(), rover_guidance_steering_kill(), rover_guidance_steering_set_speed_igain(), rover_guidance_steering_set_speed_pgain(), rover_guidance_steering_setpoints(), and rover_guidance_steering_speed_ctrl().

rover_pid

struct PID_f rover_pid

static

Definition at line 67 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_init(), rover_guidance_steering_pid_reset(), rover_guidance_steering_set_speed_igain(), rover_guidance_steering_set_speed_pgain(), and rover_guidance_steering_speed_ctrl().

time_step

float time_step

static

Definition at line 68 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_init(), and rover_guidance_steering_speed_ctrl().