gvf_line.c File Reference

Guidance algorithm based on vector fields 2D straight line trajectory. More...

#include "subsystems/navigation/common_nav.h"
#include "gvf_line.h"
#include "generated/airframe.h"

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Macros
#define	GVF_LINE_KE   1
#define	GVF_LINE_KN   1
#define	GVF_LINE_HEADING   0
#define	GVF_SEGMENT_D1   0
#define	GVF_SEGMENT_D2   0

Functions
void	gvf_line_info (float *phi, struct gvf_grad *grad, struct gvf_Hess *hess)

Variables
gvf_li_par	gvf_line_par = {GVF_LINE_KE, GVF_LINE_KN, GVF_LINE_HEADING}
gvf_seg_par	gvf_segment_par = {GVF_SEGMENT_D1, GVF_SEGMENT_D2}

Detailed Description

Guidance algorithm based on vector fields 2D straight line trajectory.

Definition in file gvf_line.c.

Macro Definition Documentation

#define GVF_LINE_HEADING   0

Default heading in degrees for a trajectory called from gvf_line_**_HEADING

Definition at line 46 of file gvf_line.c.

#define GVF_LINE_KE   1

Gain ke for the line trajectory

Definition at line 36 of file gvf_line.c.

#define GVF_LINE_KN   1

Gain kn for the line trajectory

Definition at line 41 of file gvf_line.c.

#define GVF_SEGMENT_D1   0

In case of tracking a segment, how much distance in meters will go the vehicle beyond the point x1,y1 before turning back

Definition at line 51 of file gvf_line.c.

#define GVF_SEGMENT_D2   0

In case of tracking a segment, how much distance in meters will go the vehicle beyond the point x2,y2 before turning back

Definition at line 56 of file gvf_line.c.

Function Documentation

void gvf_line_info	(	float *	phi,
		struct gvf_grad *	grad,
		struct gvf_Hess *	hess
	)

Definition at line 62 of file gvf_line.c.

References alpha, gvf_trajectory, gvf_Hess::H11, gvf_Hess::H12, gvf_Hess::H21, gvf_Hess::H22, gvf_grad::nx, gvf_grad::ny, gvf_tra::p, p, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_line().

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Variable Documentation

gvf_li_par gvf_line_par = {GVF_LINE_KE, GVF_LINE_KN, GVF_LINE_HEADING}

Definition at line 59 of file gvf_line.c.

Referenced by gvf_line().

gvf_seg_par gvf_segment_par = {GVF_SEGMENT_D1, GVF_SEGMENT_D2}

Definition at line 60 of file gvf_line.c.