guidance_OA.c File Reference

Guidance for the obstacle avoidance methods. More...

#include "guidance_OA.h"
#include <stdio.h>
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/guidance/guidance_v.h"
#include "autopilot.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/electrical.h"
#include "std.h"

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Macros
#define	CMD_OF_SAT   1500
#define	VISION_PHI_PGAIN   400
#define	VISION_PHI_IGAIN   20
#define	VISION_THETA_PGAIN   400
#define	VISION_THETA_IGAIN   20
#define	VISION_DESIRED_VX   0
#define	VISION_DESIRED_VY   0

Functions
void	guidance_h_module_init (void)
	Initialization of horizontal guidance module. More...
void	guidance_h_module_enter (void)
	Horizontal guidance mode enter resets the errors and starts the controller. More...
void	guidance_h_module_read_rc (void)
	Read the RC commands. More...
void	guidance_h_module_run (bool in_flight)
	Main guidance loop. More...
void	OA_update ()
	Update the controls based on a vision result. More...

Variables
struct opticflow_stab_t	opticflow_stab
int8_t	filter_flag = 0
int8_t	repulsionforce_filter_flag = 0
oa_method	OA_method_flag
int8_t	opti_speed_flag = 1
float	vref_max = 100
float	ref_pitch = 0.0
float	ref_roll = 0.0
float	r_dot_new = 0.0
float	desired_vx = 0.0
float	desired_vy = 0.0
float	speed_pot = 0.0
float	yaw_diff = 0.0
float	alpha_fil = 1.0
float	heading_target = 0
float	new_heading = 0
float	v_desired = 0.0
int32_t	yaw_rate = 0
float	yaw_rate_write = 0
float	yaw_ref_write = 0
int32_t	keep_yaw_rate = 0
int32_t	keep_turning = 0
float	err_vx = 0
float	err_vy = 0
float	Total_Kan_x = 0
float	Total_Kan_y = 0
struct NedCoor_f	opti_speed_read
struct FloatVect3	Total_force = {0, 0, 0}

Detailed Description

Guidance for the obstacle avoidance methods.

Definition in file guidance_OA.c.

Macro Definition Documentation

CMD_OF_SAT

#define CMD_OF_SAT   1500

Definition at line 41 of file guidance_OA.c.

VISION_DESIRED_VX

#define VISION_DESIRED_VX   0

Definition at line 65 of file guidance_OA.c.

VISION_DESIRED_VY

#define VISION_DESIRED_VY   0

Definition at line 70 of file guidance_OA.c.

VISION_PHI_IGAIN

#define VISION_PHI_IGAIN   20

Definition at line 50 of file guidance_OA.c.

VISION_PHI_PGAIN

#define VISION_PHI_PGAIN   400

Definition at line 45 of file guidance_OA.c.

VISION_THETA_IGAIN

#define VISION_THETA_IGAIN   20

Definition at line 60 of file guidance_OA.c.

VISION_THETA_PGAIN

#define VISION_THETA_PGAIN   400

Definition at line 55 of file guidance_OA.c.

Function Documentation

guidance_h_module_enter()

void guidance_h_module_enter

(

void

)

Horizontal guidance mode enter resets the errors and starts the controller.

Entering the horizontal module (user switched to module)

Definition at line 147 of file guidance_OA.c.

References opticflow_stab_t::cmd, ctrl_module_init(), opticflow_stab_t::err_vx_int, opticflow_stab_t::err_vy_int, new_heading, opticflow_stab, Int32Eulers::phi, Int32Eulers::psi, stateGetNedToBodyEulers_i(), and Int32Eulers::theta.

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guidance_h_module_init()

void guidance_h_module_init

(

void

)

Initialization of horizontal guidance module.

Definition at line 138 of file guidance_OA.c.

References ctrl_module_init().

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guidance_h_module_read_rc()

void guidance_h_module_read_rc

(

void

)

Read the RC commands.

Definition at line 166 of file guidance_OA.c.

References ctrl_module_demo, radio_control, RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, RADIO_YAW, ctrl_module_demo_struct::rc_t, ctrl_module_demo_struct::rc_x, ctrl_module_demo_struct::rc_y, ctrl_module_demo_struct::rc_z, and RadioControl::values.

guidance_h_module_run()

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 175 of file guidance_OA.c.

References opticflow_stab_t::cmd, ctrl_module_run(), OA_update(), opticflow_stab, stabilization_attitude_run(), and stabilization_attitude_set_rpy_setpoint_i().

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OA_update()

void OA_update

(

)

Update the controls based on a vision result.

Parameters

[in]

*result

The opticflow calculation result used for control

Definition at line 189 of file guidance_OA.c.

References alpha_fil, ANGLE_BFP_OF_REAL, opticflow_stab_t::cmd, CMD_OF_SAT, opticflow_stab_t::desired_vx, opticflow_stab_t::desired_vy, err_vx, opticflow_stab_t::err_vx_int, err_vy, opticflow_stab_t::err_vy_int, INT32_ANGLE_NORMALIZE, LOGICBASED, new_heading, NO_OBSTACLE_AVOIDANCE, OA_method_flag, opti_speed_flag, opti_speed_read, opticflow_stab, Int32Eulers::phi, opticflow_stab_t::phi_igain, opticflow_stab_t::phi_pgain, PINGPONG, POT_HEADING, FloatEulers::psi, Int32Eulers::psi, r_dot_new, ref_pitch, ref_roll, SAFETYZONE, speed_pot, stateGetNedToBodyEulers_f(), stateGetNedToBodyEulers_i(), stateGetSpeedNed_f(), Int32Eulers::theta, opticflow_stab_t::theta_igain, opticflow_stab_t::theta_pgain, Total_Kan_x, Total_Kan_y, vref_max, FloatVect2::x, NedCoor_f::x, FloatVect2::y, NedCoor_f::y, and yaw_rate.

Referenced by guidance_h_module_run().

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Variable Documentation

alpha_fil

float alpha_fil = 1.0

Definition at line 112 of file guidance_OA.c.

Referenced by CN_potential_velocity(), and OA_update().

desired_vx

float desired_vx = 0.0

Definition at line 108 of file guidance_OA.c.

desired_vy

float desired_vy = 0.0

Definition at line 109 of file guidance_OA.c.

err_vx

float err_vx = 0

Definition at line 123 of file guidance_OA.c.

Referenced by OA_update(), and stabilization_opticflow_vel_cb().

err_vy

float err_vy = 0

Definition at line 124 of file guidance_OA.c.

Referenced by OA_update(), and stabilization_opticflow_vel_cb().

filter_flag

int8_t filter_flag = 0

Definition at line 93 of file guidance_OA.c.

heading_target

float heading_target = 0

Definition at line 113 of file guidance_OA.c.

keep_turning

int32_t keep_turning = 0

Definition at line 121 of file guidance_OA.c.

keep_yaw_rate

int32_t keep_yaw_rate = 0

Definition at line 120 of file guidance_OA.c.

new_heading

float new_heading = 0

Definition at line 114 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_potential_velocity(), CN_vector_escape_velocity(), guidance_h_module_enter(), increase_nav_heading(), nav_fish_velocity_run(), and OA_update().

OA_method_flag

oa_method OA_method_flag

Initial value:

=
  PINGPONG

Definition at line 96 of file guidance_OA.c.

Referenced by CN_calculate_target(), OA_update(), and serial_update().

opti_speed_flag

int8_t opti_speed_flag = 1

Definition at line 98 of file guidance_OA.c.

Referenced by OA_update().

opti_speed_read

struct NedCoor_f opti_speed_read

Definition at line 129 of file guidance_OA.c.

Referenced by OA_update().

opticflow_stab

struct opticflow_stab_t opticflow_stab

Initial value:

= {
  .phi_pgain = VISION_PHI_PGAIN,
  .phi_igain = VISION_PHI_IGAIN,
  .theta_pgain = VISION_THETA_PGAIN,
  .theta_igain = VISION_THETA_IGAIN,
  .desired_vx = VISION_DESIRED_VX,
  .desired_vy = VISION_DESIRED_VY
}

Definition at line 83 of file guidance_OA.c.

Referenced by guidance_h_module_enter(), guidance_h_module_run(), and OA_update().

r_dot_new

float r_dot_new = 0.0

Definition at line 107 of file guidance_OA.c.

Referenced by CN_potential_heading(), CN_potential_velocity(), and OA_update().

ref_pitch

float ref_pitch = 0.0

Definition at line 103 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_potential_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), OA_update(), and pingpong_euler().

ref_roll

float ref_roll = 0.0

Definition at line 104 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), OA_update(), and pingpong_euler().

repulsionforce_filter_flag

int8_t repulsionforce_filter_flag = 0

Definition at line 94 of file guidance_OA.c.

Referenced by CN_vector_escape_velocity(), and CN_vector_velocity().

speed_pot

float speed_pot = 0.0

Definition at line 110 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_potential_heading(), CN_potential_velocity(), CN_vector_escape_velocity(), and OA_update().

Total_force

struct FloatVect3 Total_force = {0, 0, 0}

Definition at line 130 of file guidance_OA.c.

Total_Kan_x

float Total_Kan_x = 0

Definition at line 126 of file guidance_OA.c.

Referenced by OA_update().

Total_Kan_y

float Total_Kan_y = 0

Definition at line 127 of file guidance_OA.c.

Referenced by OA_update().

v_desired

float v_desired = 0.0

Definition at line 115 of file guidance_OA.c.

vref_max

float vref_max = 100

Definition at line 99 of file guidance_OA.c.

Referenced by CN_escape_velocity(), CN_potential_heading(), CN_potential_velocity(), CN_vector_escape_velocity(), and OA_update().

yaw_diff

float yaw_diff = 0.0

Definition at line 111 of file guidance_OA.c.

yaw_rate

int32_t yaw_rate = 0

Definition at line 117 of file guidance_OA.c.

Referenced by OA_update().

yaw_rate_write

float yaw_rate_write = 0

Definition at line 118 of file guidance_OA.c.

yaw_ref_write

float yaw_ref_write = 0

Definition at line 119 of file guidance_OA.c.