shift_tracking.h File Reference

#include "std.h"

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Data Structures
struct	shift_tracking_t

Macros
#define	shift_tracking_SetKp(_v)   { shift_tracking.kp = _v; shift_tracking_update_gains(); }
	hndlers for gains update More...
#define	shift_tracking_SetKd(_v)   { shift_tracking.kd = _v; shift_tracking_update_gains(); }
#define	shift_tracking_SetKi(_v)   { shift_tracking.ki = _v; shift_tracking_update_gains(); }

Functions
void	shift_tracking_init (void)
	init function More...
void	shift_tracking_run (float *shift)
	run function More...
void	shift_tracking_reset (void)
	reset function More...
void	shift_tracking_update_gains (void)

Variables
struct shift_tracking_t	shift_tracking

Detailed Description

Author

Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r

pilot the nav shift variable to track an offset trajectory based on the POSITION_ESTIMATE ABI message

Definition in file shift_tracking.h.

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Data Structure Documentation

struct shift_tracking_t

Definition at line 34 of file shift_tracking.h.

Data Fields
float	kd	derivative gain
float	ki	integral gain
float	kp	proportional gain
float	shift	shift command

Macro Definition Documentation

#define shift_tracking_SetKd

(

_v

)

{ shift_tracking.kd = _v; shift_tracking_update_gains(); }

Definition at line 64 of file shift_tracking.h.

#define shift_tracking_SetKi

(

_v

)

{ shift_tracking.ki = _v; shift_tracking_update_gains(); }

Definition at line 65 of file shift_tracking.h.

#define shift_tracking_SetKp

(

_v

)

{ shift_tracking.kp = _v; shift_tracking_update_gains(); }

hndlers for gains update

Definition at line 63 of file shift_tracking.h.

Function Documentation

void shift_tracking_init

(

void

)

init function

Definition at line 108 of file shift_tracking.c.

References dir, shift_tracking_private::dir, float_vect3_normalize(), FLOAT_VECT3_ZERO, get_pos(), init_pid_f(), shift_tracking_t::kd, shift_tracking_t::ki, shift_tracking_t::kp, shift_tracking_private::pid, shift_tracking_private::pos, shift_tracking_private::pos_ev, shift_tracking_t::shift, shift_tracking_private::shift, shift_tracking, SHIFT_TRACKING_ID, SHIFT_TRACKING_KD, SHIFT_TRACKING_KI, SHIFT_TRACKING_KP, stp, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

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void shift_tracking_reset

(

void

)

reset function

reset integral and offset command

Definition at line 127 of file shift_tracking.c.

References shift_tracking_private::pid, reset_pid_f(), shift_tracking_t::shift, shift_tracking_private::shift, shift_tracking, and stp.

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void shift_tracking_run

(

float *

shift

)

run function

should be called in flight plan pre_call

Parameters

[out]

shift

pointer to the navigation shift to control

Definition at line 136 of file shift_tracking.c.

References shift_tracking_private::dir, nav_dt, shift_tracking_private::pid, shift_tracking_private::pos, shift_tracking_t::shift, shift_tracking_private::shift, shift_tracking, SHIFT_TRACKING_MAXSHIFT, stp, update_pid_f(), FloatVect3::x, and FloatVect3::y.

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void shift_tracking_update_gains

(

void

)

Definition at line 163 of file shift_tracking.c.

References shift_tracking_t::kd, shift_tracking_t::ki, shift_tracking_t::kp, shift_tracking_private::pid, set_gains_pid_f(), shift_tracking, and stp.

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Variable Documentation

struct shift_tracking_t shift_tracking

Definition at line 75 of file shift_tracking.c.

Referenced by shift_tracking_init(), shift_tracking_reset(), shift_tracking_run(), and shift_tracking_update_gains().