optical_flow_hover.h File Reference

#include "std.h"

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Macros
#define	GUIDANCE_H_MODE_MODULE_SETTING   GUIDANCE_H_MODE_MODULE
#define	GUIDANCE_V_MODE_MODULE_SETTING   GUIDANCE_V_MODE_MODULE

Functions
void	optical_flow_hover_init (void)
void	guidance_v_module_init (void)
void	guidance_v_module_enter (void)
	Entering the vertical module (user switched to module) More...
void	guidance_v_module_run (bool in_flight)
void	guidance_h_module_init (void)
	Initialization of horizontal guidance module. More...
void	guidance_h_module_enter (void)
	Entering the horizontal module (user switched to module) More...
void	guidance_h_module_run (bool in_flight)
	Main guidance loop. More...
void	guidance_h_module_read_rc (void)
	Read the RC commands. More...

Variables
bool	oscphi
bool	osctheta
bool	derotated
bool	cov_method
	method to calculate the covariance: between thrust and div / angle and flow (0) or div and div past / flow and past flow(1) More...
uint8_t	hover_method
	Method used to hover 0 = All axis after each other; 1 = all axis at the same time; 2 = vertical only, use relation to set horizontal. More...
struct OpticalFlowHoverControl	of_hover_ctrl_X
struct OpticalFlowHoverControl	of_hover_ctrl_Y
struct OpticalFlowHoverControl	of_hover_ctrl_Z

Macro Definition Documentation

#define GUIDANCE_H_MODE_MODULE_SETTING   GUIDANCE_H_MODE_MODULE

Definition at line 29 of file optical_flow_hover.h.

#define GUIDANCE_V_MODE_MODULE_SETTING   GUIDANCE_V_MODE_MODULE

Definition at line 32 of file optical_flow_hover.h.

Function Documentation

void guidance_h_module_enter

(

void

)

Entering the horizontal module (user switched to module)

Entering the horizontal module (user switched to module)

Definition at line 85 of file ctrl_module_innerloop_demo.c.

void guidance_h_module_init

(

void

)

Initialization of horizontal guidance module.

Definition at line 80 of file ctrl_module_innerloop_demo.c.

void guidance_h_module_read_rc

(

void

)

Read the RC commands.

Definition at line 90 of file ctrl_module_innerloop_demo.c.

void guidance_h_module_run

(

bool

in_flight

)

Main guidance loop.

Parameters

[in]

in_flight

Whether we are in flight or not

Definition at line 99 of file ctrl_module_innerloop_demo.c.

void guidance_v_module_enter

(

void

)

Entering the vertical module (user switched to module)

Entering the vertical module (user switched to module)

Definition at line 111 of file ctrl_module_innerloop_demo.c.

void guidance_v_module_init

(

void

)

Definition at line 105 of file ctrl_module_innerloop_demo.c.

void guidance_v_module_run

(

bool

in_flight

)

Definition at line 656 of file optical_flow_hover.c.

void optical_flow_hover_init

(

void

)

Definition at line 259 of file optical_flow_hover.c.

References OpticalFlowHoverControl::cov_setpoint, GainsPID::D, DefaultPeriodic, GainsPID::I, of_hover_ctrl_X, of_hover_ctrl_Y, of_hover_ctrl_Z, OFH_COV_METHOD, OFH_COVDIV_SETPOINT, OFH_COVFLOW_SETPOINT, OFH_DGAINX, OFH_DGAINY, OFH_DGAINZ, OFH_HOVER_METHOD, OFH_IGAINX, OFH_IGAINY, OFH_IGAINZ, ofh_optical_flow_cb(), OFH_OPTICAL_FLOW_ID, OFH_OSCPHI, OFH_OSCTHETA, OFH_PGAINX, OFH_PGAINY, OFH_PGAINZ, OFH_RAMPXY, OFH_RAMPZ, OFH_REDUCTIONXY, OFH_REDUCTIONZ, GainsPID::P, OpticalFlowHoverControl::PID, OpticalFlowHoverControl::ramp, OpticalFlowHoverControl::reduction_factor, register_periodic_telemetry(), reset_horizontal_vars(), reset_vertical_vars(), send_optical_flow_hover(), and OpticalFlowHoverControl::setpoint.

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Variable Documentation

bool cov_method

method to calculate the covariance: between thrust and div / angle and flow (0) or div and div past / flow and past flow(1)

Definition at line 213 of file optical_flow_hover.c.

bool derotated

Definition at line 212 of file optical_flow_hover.c.

uint8_t hover_method

Method used to hover 0 = All axis after each other; 1 = all axis at the same time; 2 = vertical only, use relation to set horizontal.

Definition at line 214 of file optical_flow_hover.c.

struct OpticalFlowHoverControl of_hover_ctrl_X

Definition at line 205 of file optical_flow_hover.c.

Referenced by horizontal_ctrl_module_run(), optical_flow_hover_init(), reset_horizontal_vars(), send_optical_flow_hover(), and vertical_ctrl_module_run().

struct OpticalFlowHoverControl of_hover_ctrl_Y

Definition at line 206 of file optical_flow_hover.c.

Referenced by horizontal_ctrl_module_run(), optical_flow_hover_init(), reset_horizontal_vars(), send_optical_flow_hover(), and vertical_ctrl_module_run().

struct OpticalFlowHoverControl of_hover_ctrl_Z

Definition at line 207 of file optical_flow_hover.c.

Referenced by guidance_v_module_enter(), optical_flow_hover_init(), reset_vertical_vars(), send_optical_flow_hover(), and vertical_ctrl_module_run().

bool oscphi

Definition at line 210 of file optical_flow_hover.c.

bool osctheta

Definition at line 211 of file optical_flow_hover.c.