rover_guidance.h File Reference

Basic guidance for rover. More...

#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"
#include "std.h"

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Data Structures
struct	RoverGuidanceSetpoint
struct	RoverGuidancePID
struct	RoverGuidanceControl
struct	RoverGuidance

Functions
void	rover_guidance_init (void)
void	rover_guidance_periodic (void)
void	rover_guidance_run (float *heading_sp)
void	rover_guidance_enter (void)
void	rover_guidance_set_speed_igain (uint32_t igain)
void	rover_guidance_set_turn_igain (uint32_t igain)

Variables
struct RoverGuidance	rover_guidance

Detailed Description

Basic guidance for rover.

Implement standard PID control loop to track a navigation target. Guidance "modes" are using the autopilot generation with the "guidance" state machine.

Definition in file rover_guidance.h.

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Data Structure Documentation

struct RoverGuidanceSetpoint

Definition at line 36 of file rover_guidance.h.

Collaboration diagram for RoverGuidanceSetpoint:

Data Fields
float	heading	heading setpoint
uint8_t	mask	bit 5: vx & vy, bit 6: vz, bit 7: vyaw
struct FloatVect2	pos	position setpoint in NED. position setpoint
struct FloatVect2	speed	speed setpoint

struct RoverGuidancePID

Definition at line 46 of file rover_guidance.h.

Data Fields
float	d
float	d_err
float	err
float	i
float	p
float	sum_err

struct RoverGuidanceControl

Definition at line 55 of file rover_guidance.h.

Data Fields
float	motor_speed
float	motor_turn

struct RoverGuidance

Definition at line 60 of file rover_guidance.h.

Collaboration diagram for RoverGuidance:

Data Fields
struct RoverGuidanceControl	cmd	commands
struct RoverGuidanceSetpoint	sp	setpoints
struct RoverGuidancePID	speed_pid	motor speed controller
struct RoverGuidancePID	turn_pid	turn rate controller

Function Documentation

void rover_guidance_enter

(

void

)

Definition at line 124 of file rover_guidance.c.

References RoverGuidanceSetpoint::heading, RoverGuidanceSetpoint::mask, FloatEulers::psi, rover_guidance, RoverGuidance::sp, and stateGetNedToBodyEulers_f().

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void rover_guidance_init

(

void

)

Definition at line 42 of file rover_guidance.c.

References RoverGuidancePID::d, RoverGuidancePID::d_err, RoverGuidancePID::err, FLOAT_VECT2_ZERO, RoverGuidanceSetpoint::heading, RoverGuidancePID::i, RoverGuidancePID::p, RoverGuidanceSetpoint::pos, rover_guidance, RoverGuidance::sp, RoverGuidance::speed_pid, RoverGuidancePID::sum_err, and RoverGuidance::turn_pid.

void rover_guidance_periodic

(

void

)

Definition at line 67 of file rover_guidance.c.

void rover_guidance_run

(

float *

heading_sp

)

Definition at line 83 of file rover_guidance.c.

References RoverGuidance::cmd, compute_pid(), RoverGuidancePID::d_err, RoverGuidancePID::err, float_vect2_norm(), RoverGuidanceSetpoint::heading, MAX_POS_ERR, MAX_PPRZ, MAX_SPEED_ERR, RoverGuidanceControl::motor_speed, RoverGuidanceControl::motor_turn, RoverGuidanceSetpoint::pos, PROXIMITY_DIST, FloatEulers::psi, FloatRates::r, rover_guidance, RoverGuidance::sp, RoverGuidance::speed_pid, stateGetBodyRates_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), RoverGuidancePID::sum_err, TRIM_PPRZ, RoverGuidance::turn_pid, VECT2_DIFF, FloatVect2::x, and FloatVect2::y.

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void rover_guidance_set_speed_igain

(

uint32_t

igain

)

Definition at line 173 of file rover_guidance.c.

References RoverGuidancePID::i, rover_guidance, RoverGuidance::speed_pid, and RoverGuidancePID::sum_err.

void rover_guidance_set_turn_igain

(

uint32_t

igain

)

Definition at line 179 of file rover_guidance.c.

References RoverGuidancePID::i, rover_guidance, RoverGuidancePID::sum_err, and RoverGuidance::turn_pid.

Variable Documentation

struct RoverGuidance rover_guidance

Definition at line 35 of file rover_guidance.c.

Referenced by rover_guidance_enter(), rover_guidance_init(), rover_guidance_run(), rover_guidance_set_speed_igain(), and rover_guidance_set_turn_igain().