28 #ifndef ROVER_GUIDANCE_H
29 #define ROVER_GUIDANCE_H
33 #include "generated/airframe.h"
77 #ifdef GUIDANCE_MODE_GUIDED
80 extern void rover_guidance_guided_run(
bool in_flight);
87 extern bool rover_guidance_set_guided_pos(
float x,
float y);
93 extern bool rover_guidance_set_guided_heading(
float heading);
100 extern bool rover_guidance_set_guided_body_vel(
float vx,
float vy);
107 extern bool rover_guidance_set_guided_vel(
float vx,
float vy);
113 extern bool rover_guidance_set_guided_heading_rate(
float rate);
void rover_guidance_periodic(void)
struct RoverGuidancePID speed_pid
motor speed controller
struct RoverGuidance rover_guidance
struct FloatVect2 speed
speed setpoint
void rover_guidance_set_turn_igain(uint32_t igain)
float heading
heading setpoint
struct RoverGuidancePID turn_pid
turn rate controller
void rover_guidance_run(float *heading_sp)
Paparazzi floating point algebra.
uint8_t mask
bit 5: vx & vy, bit 6: vz, bit 7: vyaw
struct RoverGuidanceSetpoint sp
setpoints
struct RoverGuidanceControl cmd
commands
void rover_guidance_set_speed_igain(uint32_t igain)
void rover_guidance_enter(void)
struct FloatVect2 pos
position setpoint in NED.
void rover_guidance_init(void)