gvf.h File Reference

Guidance algorithm based on vector fields. More...

#include "std.h"

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Data Structures
struct	gvf_con
struct	gvf_tra
struct	gvf_seg
struct	gvf_grad
struct	gvf_Hess

Macros
#define	GVF_GRAVITY   9.806

Enumerations
enum	trajectories { LINE = 0, ELLIPSE, SIN, NONE = 255 }

Functions
void	gvf_init (void)
void	gvf_control_2D (float ke, float kn, float e, struct gvf_grad *, struct gvf_Hess *)
void	gvf_set_direction (int8_t s)
bool	gvf_line_XY_heading (float x, float y, float heading)
bool	gvf_line_XY1_XY2 (float x1, float y1, float x2, float y2)
bool	gvf_line_wp1_wp2 (uint8_t wp1, uint8_t wp2)
bool	gvf_segment_loop_XY1_XY2 (float x1, float y1, float x2, float y2, float d1, float d2)
bool	gvf_segment_loop_wp1_wp2 (uint8_t wp1, uint8_t wp2, float d1, float d2)
bool	gvf_segment_XY1_XY2 (float x1, float y1, float x2, float y2)
bool	gvf_segment_wp1_wp2 (uint8_t wp1, uint8_t wp2)
bool	gvf_line_wp_heading (uint8_t wp, float heading)
bool	gvf_ellipse_wp (uint8_t wp, float a, float b, float alpha)
bool	gvf_ellipse_XY (float x, float y, float a, float b, float alpha)
bool	gvf_sin_XY_alpha (float x, float y, float alpha, float w, float off, float A)
bool	gvf_sin_wp1_wp2 (uint8_t wp1, uint8_t wp2, float w, float off, float A)
bool	gvf_sin_wp_alpha (uint8_t wp, float alpha, float w, float off, float A)

Variables
gvf_con	gvf_control
gvf_tra	gvf_trajectory

Detailed Description

Guidance algorithm based on vector fields.

Definition in file gvf.h.

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Data Structure Documentation

struct gvf_con

Definition at line 42 of file gvf.h.

Data Fields
float	error
float	ke
float	kn
int8_t	s

struct gvf_tra

Definition at line 58 of file gvf.h.

Data Fields
float	p[16]
enum trajectories	type

struct gvf_seg

Definition at line 71 of file gvf.h.

Data Fields
int	seg
float	x1
float	x2
float	y1
float	y2

struct gvf_grad

Definition at line 81 of file gvf.h.

Data Fields
float	nx
float	ny
float	nz

struct gvf_Hess

Definition at line 87 of file gvf.h.

Data Fields
float	H11
float	H12
float	H13
float	H21
float	H22
float	H23
float	H31
float	H32
float	H33

Macro Definition Documentation

#define GVF_GRAVITY   9.806

Definition at line 31 of file gvf.h.

Referenced by gvf_control_2D().

Enumeration Type Documentation

enum trajectories

Enumerator
LINE
ELLIPSE
SIN
NONE

Definition at line 51 of file gvf.h.

Function Documentation

void gvf_control_2D	(	float	ke,
		float	kn,
		float	e,
		struct gvf_grad *	,
		struct gvf_Hess *
	)

Definition at line 139 of file gvf.c.

References AP_MODE_AUTO2, autopilot_get_mode(), course, GVF_GRAVITY, gvf_Hess::H11, gvf_Hess::H12, gvf_Hess::H21, gvf_Hess::H22, h_ctl_roll_max_setpoint, h_ctl_roll_setpoint, lateral_mode, LATERAL_MODE_ROLL, gvf_grad::nx, gvf_grad::ny, s, gvf_con::s, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), and FloatEulers::theta.

Referenced by gvf_ellipse_XY(), gvf_line(), and gvf_sin_XY_alpha().

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bool gvf_ellipse_wp	(	uint8_t	wp,
		float	a,
		float	b,
		float	alpha
	)

Definition at line 392 of file gvf.c.

References gvf_ellipse_XY(), and waypoints.

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bool gvf_ellipse_XY	(	float	x,
		float	y,
		float	a,
		float	b,
		float	alpha
	)

Definition at line 356 of file gvf.c.

References alpha, gvf_con::error, gvf_control_2D(), gvf_ellipse_info(), gvf_ellipse_par, horizontal_mode, HORIZONTAL_MODE_CIRCLE, HORIZONTAL_MODE_WAYPOINT, gvf_ell_par::ke, gvf_con::ke, gvf_ell_par::kn, gvf_tra::p, and gvf_tra::type.

Referenced by distributed_circular(), gvf_ellipse_wp(), and gvf_nav_survey_polygon_run().

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void gvf_init

(

void

)

Definition at line 124 of file gvf.c.

References DefaultPeriodic, gvf_con::ke, gvf_con::kn, NONE, register_periodic_telemetry(), gvf_con::s, send_circle(), send_gvf(), send_segment(), and gvf_tra::type.

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bool gvf_line_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2
	)

Definition at line 269 of file gvf.c.

References gvf_line_XY1_XY2(), waypoints, point::x, and point::y.

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bool gvf_line_wp_heading	(	uint8_t	wp,
		float	heading
	)

Definition at line 344 of file gvf.c.

References gvf_line_XY_heading(), waypoints, point::x, and point::y.

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bool gvf_line_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)

Definition at line 240 of file gvf.c.

References alpha, gvf_line(), gvf_set_direction(), horizontal_mode, HORIZONTAL_MODE_ROUTE, gvf_seg::seg, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by gvf_line_wp1_wp2(), and gvf_segment_XY1_XY2().

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bool gvf_line_XY_heading	(	float	x,
		float	y,
		float	heading
	)

Definition at line 233 of file gvf.c.

References gvf_line(), and gvf_set_direction().

Referenced by gvf_line_wp_heading().

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bool gvf_segment_loop_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2,
		float	d1,
		float	d2
	)

Definition at line 302 of file gvf.c.

References gvf_segment_loop_XY1_XY2(), waypoints, point::x, and point::y.

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bool gvf_segment_loop_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2,
		float	d1,
		float	d2
	)

Definition at line 279 of file gvf.c.

References alpha, gvf_line(), horizontal_mode, HORIZONTAL_MODE_ROUTE, out_of_segment_area(), s, gvf_con::s, gvf_seg::seg, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by gvf_segment_loop_wp1_wp2().

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bool gvf_segment_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2
	)

Definition at line 334 of file gvf.c.

References gvf_segment_XY1_XY2(), waypoints, point::x, and point::y.

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bool gvf_segment_XY1_XY2	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)

Definition at line 312 of file gvf.c.

References gvf_line_XY1_XY2(), p, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by gvf_nav_points(), and gvf_segment_wp1_wp2().

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void gvf_set_direction

(

int8_t

s

)

Definition at line 205 of file gvf.c.

References s, and gvf_con::s.

Referenced by gvf_line_XY1_XY2(), gvf_line_XY_heading(), and gvf_nav_direction_circle().

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bool gvf_sin_wp1_wp2	(	uint8_t	wp1,
		uint8_t	wp2,
		float	w,
		float	off,
		float	A
	)

Definition at line 423 of file gvf.c.

References alpha, gvf_sin_XY_alpha(), waypoints, point::x, and point::y.

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bool gvf_sin_wp_alpha	(	uint8_t	wp,
		float	alpha,
		float	w,
		float	off,
		float	A
	)

Definition at line 442 of file gvf.c.

References gvf_sin_XY_alpha(), waypoints, point::x, and point::y.

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bool gvf_sin_XY_alpha	(	float	x,
		float	y,
		float	alpha,
		float	w,
		float	off,
		float	A
	)

Definition at line 400 of file gvf.c.

References A, alpha, gvf_con::error, gvf_control_2D(), gvf_sin_info(), gvf_sin_par, gvf_con::ke, gvf_s_par::ke, gvf_s_par::kn, gvf_tra::p, and gvf_tra::type.

Referenced by gvf_sin_wp1_wp2(), and gvf_sin_wp_alpha().

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Variable Documentation

gvf_con gvf_control

Definition at line 37 of file gvf.c.

Referenced by distributed_circular().

gvf_tra gvf_trajectory

Definition at line 40 of file gvf.c.

Referenced by gvf_ellipse_info(), gvf_line_info(), and gvf_sin_info().