gvf_ellipse.c File Reference

Guidance algorithm based on vector fields 2D Ellipse trajectory. More...

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

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Macros
#define	GVF_ELLIPSE_KE   1
#define	GVF_ELLIPSE_KN   1
#define	GVF_ELLIPSE_A   80
#define	GVF_ELLIPSE_B   80
#define	GVF_ELLIPSE_ALPHA   0

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

Variables
gvf_ell_par	gvf_ellipse_par

Detailed Description

Guidance algorithm based on vector fields 2D Ellipse trajectory.

Definition in file gvf_ellipse.c.

Macro Definition Documentation

#define GVF_ELLIPSE_A   80

Default first axis for the ellipse trajectory

Definition at line 46 of file gvf_ellipse.c.

#define GVF_ELLIPSE_ALPHA   0

Default orientation in degrees for the ellipse trajectory

Definition at line 56 of file gvf_ellipse.c.

#define GVF_ELLIPSE_B   80

Default second axis for the ellipse trajectory

Definition at line 51 of file gvf_ellipse.c.

#define GVF_ELLIPSE_KE   1

Default gain ke for the ellipse trajectory

Definition at line 36 of file gvf_ellipse.c.

#define GVF_ELLIPSE_KN   1

Default gain kn for the ellipse trajectory

Definition at line 41 of file gvf_ellipse.c.

Function Documentation

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

Definition at line 63 of file gvf_ellipse.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_ellipse_XY().

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Variable Documentation

gvf_ell_par gvf_ellipse_par

Initial value:

= {GVF_ELLIPSE_KE, GVF_ELLIPSE_KN,
                               GVF_ELLIPSE_A, GVF_ELLIPSE_B, GVF_ELLIPSE_ALPHA
                              }

Definition at line 59 of file gvf_ellipse.c.

Referenced by gvf_ellipse_XY().