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_

// number of time steps used for calculating the covariance (oscillations)
#define COV_WINDOW_SIZE 60

#include "std.h"


struct OpticalFlowLanding {
  float agl;                    
  float agl_lp;                 
  float lp_factor;              
  float vel;                    
  float divergence_setpoint;    
  float pgain;                  
  float igain;                  
  float dgain;                  
  float sum_err;                
  float nominal_thrust;         
  int VISION_METHOD;            
  int CONTROL_METHOD;           
  float cov_set_point;          
  float cov_limit;              
  float pgain_adaptive;         
  float igain_adaptive;         
  float dgain_adaptive;         
  int COV_METHOD;               
  int delay_steps;              
};

extern struct OpticalFlowLanding of_landing_ctrl;

// arrays containing histories for determining covariance
float thrust_history[COV_WINDOW_SIZE];
float divergence_history[COV_WINDOW_SIZE];
float past_divergence_history[COV_WINDOW_SIZE];
unsigned long ind_hist;

// Without optitrack set to: GUIDANCE_H_MODE_ATTITUDE
// With optitrack set to: GUIDANCE_H_MODE_HOVER
#define GUIDANCE_H_MODE_MODULE_SETTING GUIDANCE_H_MODE_HOVER

// Own guidance_v
#define GUIDANCE_V_MODE_MODULE_SETTING GUIDANCE_V_MODE_MODULE

// supporting functions for cov calculation:
float get_cov(float *a, float *b, int n_elements);
float get_mean_array(float *a, int n_elements);
void reset_all_vars(void);

// Implement own Vertical loops
extern void guidance_v_module_init(void);
extern void guidance_v_module_enter(void);
extern void guidance_v_module_run(bool in_flight);

#endif /* OPTICAL_FLOW_LANDING_H_ */