Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
rover_guidance_steering.c File Reference
#include "firmwares/rover/guidance/rover_guidance_steering.h"
#include "generated/airframe.h"
#include "modules/actuators/actuators_default.h"
#include "modules/radio_control/radio_control.h"
#include "autopilot.h"
#include "navigation.h"
#include "state.h"
#include "filters/pid.h"
#include <math.h>
#include <stdio.h>
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Macros

#define AUTOPILOT_CORE_GUIDANCE_C
 

Functions

void rover_guidance_steering_init (void)
 INIT function. More...
 
void rover_guidance_steering_heading_ctrl (void)
 CTRL functions. More...
 
void rover_guidance_steering_speed_ctrl (void)
 
void rover_guidance_steering_pid_reset (void)
 PID RESET function. More...
 
void rover_guidance_steering_kill (void)
 

Variables

rover_ctrl guidance_control
 Mandatory dependencies header. More...
 
static struct PID_f rover_pid
 
static float time_step
 
static float last_speed_cmd
 
static uint8_t last_ap_mode
 

Macro Definition Documentation

◆ AUTOPILOT_CORE_GUIDANCE_C

#define AUTOPILOT_CORE_GUIDANCE_C

Definition at line 22 of file rover_guidance_steering.c.

Function Documentation

◆ rover_guidance_steering_heading_ctrl()

void rover_guidance_steering_heading_ctrl ( void  )

CTRL functions.

Definition at line 71 of file rover_guidance_steering.c.

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

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◆ rover_guidance_steering_init()

void rover_guidance_steering_init ( void  )

INIT function.

Steering rover guidance EXT FUNCTIONS.

Definition at line 49 of file rover_guidance_steering.c.

References AP_MODE_KILL, rover_ctrl::cmd, sr_cmd_t::delta, guidance_control, init_pid_f(), rover_ctrl::kf, rover_ctrl::ki, rover_ctrl::kp, last_ap_mode, last_speed_cmd, MAX_PPRZ, rover_pid, sr_cmd_t::speed, rover_ctrl::speed_error, SR_MEASURED_KF, rover_ctrl::throttle, and time_step.

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◆ rover_guidance_steering_kill()

void rover_guidance_steering_kill ( void  )

◆ rover_guidance_steering_pid_reset()

void rover_guidance_steering_pid_reset ( void  )

PID RESET function.

Definition at line 107 of file rover_guidance_steering.c.

References reset_pid_f(), rover_pid, and PID_f::sum.

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◆ rover_guidance_steering_speed_ctrl()

Variable Documentation

◆ guidance_control

◆ last_ap_mode

uint8_t last_ap_mode
static

Definition at line 46 of file rover_guidance_steering.c.

Referenced by rover_guidance_steering_init().

◆ last_speed_cmd

float last_speed_cmd
static

◆ rover_pid

◆ time_step

float time_step
static