ctc.h File Reference

Collective Tracking Control. More...

#include "std.h"

Include dependency graph for ctc.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	ctc_con

Functions
void	ctc_init (void)
bool	collective_tracking_vehicle (void)
bool	collective_tracking_waypoint (uint8_t wp)
bool	collective_tracking_point (float x, float y)
void	collective_tracking_control (void)
void	ctc_send_info_to_nei (void)
void	parse_ctc_RegTable (uint8_t *buf)
void	parse_ctc_CleanTable (uint8_t *buf)
void	parse_ctc_NeiInfoTable (uint8_t *buf)
void	parse_ctc_TargetInfo (uint8_t *buf)

Variables
ctc_con	ctc_control
int16_t	tableNei [][6]
float	ctc_error_to_target

Detailed Description

Collective Tracking Control.

Definition in file ctc.h.

---

Data Structure Documentation

struct ctc_con

Definition at line 33 of file ctc.h.

Data Fields
float	alpha
float	k1
float	k2
float	omega
float	p_centroid_x
float	p_centroid_y
float	px
float	py
float	ref_px
float	ref_py
float	target_px
float	target_py
float	target_vx
float	target_vy
uint16_t	time_broad
uint16_t	timeout
float	v_centroid_x
float	v_centroid_y
float	vx
float	vy

Function Documentation

void collective_tracking_control

(

void

)

Definition at line 145 of file ctc.c.

References ac_id, ctc_con::alpha, AP_MODE_AUTO2, autopilot_get_mode(), before, ctc_first_time, ctc_gogo, CTC_MAX_AC, ctc_send_info_to_nei(), DefaultChannel, DefaultDevice, get_sys_time_msec(), h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, ctc_con::k1, ctc_con::k2, last_info, last_transmision, lateral_mode, LATERAL_MODE_ROLL, moving_target_px, moving_target_py, moving_target_vx, moving_target_vy, ctc_con::omega, p, ctc_con::p_centroid_x, ctc_con::p_centroid_y, parse_ctc_CleanTable(), parse_ctc_NeiInfoTable(), parse_ctc_RegTable(), parse_ctc_TargetInfo(), ctc_con::px, ctc_con::py, ctc_con::ref_px, ctc_con::ref_py, starting_time, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), tableNei, ctc_con::target_px, ctc_con::target_py, ctc_con::target_vx, ctc_con::target_vy, FloatEulers::theta, ctc_con::time_broad, ctc_con::timeout, timeout, ctc_con::v_centroid_x, ctc_con::v_centroid_y, ctc_con::vx, ctc_con::vy, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by collective_tracking_point(), collective_tracking_vehicle(), and collective_tracking_waypoint().

Here is the call graph for this function:

Here is the caller graph for this function:

bool collective_tracking_point	(	float	x,
		float	y
	)

Definition at line 133 of file ctc.c.

References collective_tracking_control(), ctc_con::target_px, ctc_con::target_py, ctc_con::target_vx, and ctc_con::target_vy.

Here is the call graph for this function:

bool collective_tracking_vehicle

(

void

)

Definition at line 109 of file ctc.c.

References collective_tracking_control(), moving_target_px, moving_target_py, moving_target_vx, moving_target_vy, ctc_con::target_px, ctc_con::target_py, ctc_con::target_vx, and ctc_con::target_vy.

Here is the call graph for this function:

bool collective_tracking_waypoint

(

uint8_t

wp

)

Definition at line 121 of file ctc.c.

References collective_tracking_control(), ctc_con::target_px, ctc_con::target_py, ctc_con::target_vx, ctc_con::target_vy, waypoints, point::x, and point::y.

Here is the call graph for this function:

void ctc_init

(

void

)

Definition at line 97 of file ctc.c.

References CTC_MAX_AC, DefaultPeriodic, register_periodic_telemetry(), send_ctc(), send_ctc_control(), and tableNei.

Here is the call graph for this function:

void ctc_send_info_to_nei

(

void

)

Referenced by collective_tracking_control().

Here is the caller graph for this function:

void parse_ctc_CleanTable

(

uint8_t *

buf

)

Referenced by collective_tracking_control().

Here is the caller graph for this function:

void parse_ctc_NeiInfoTable

(

uint8_t *

buf

)

Referenced by collective_tracking_control().

Here is the caller graph for this function:

void parse_ctc_RegTable

(

uint8_t *

buf

)

Referenced by collective_tracking_control().

Here is the caller graph for this function:

void parse_ctc_TargetInfo

(

uint8_t *

buf

)

Referenced by collective_tracking_control().

Here is the caller graph for this function:

Variable Documentation

ctc_con ctc_control

Definition at line 77 of file ctc.c.

Referenced by send_ctc_control().

float ctc_error_to_target

int16_t tableNei[][6]

Definition at line 81 of file ctc.c.