nav_fish.h

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/*
 * Copyright (C) 2020 Adjiri Adam <adam.adjiri@etu.isae-ensma.fr>
 *                    Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef NAV_FISH_H
#define NAV_FISH_H
 
#include "std.h"
 
struct NavFishParams {
  float max_velocity;  
  float min_velocity;  
  float min_d2d;       
  float fluct;         
  float alpha;         
  float e_w1;          
  float e_w2;          
  float y_w;           
  float l_w;           
  float y_att;         
  float l_att;         
  float d0_att;        
  float y_ali;         
  float l_ali;         
  float d0_ali;        
  float alpha_rep;     
  float tr_y_ali;      
  float tr_l_ali;      
  float tr_y_att;      
  float tr_l_att;      
  float alt;           
  uint8_t strategy;    
};
 
extern struct NavFishParams nav_fish_params;
 
extern void nav_fish_init(void);
 
extern bool nav_fish_velocity_run(void);
 
#endif  // NAV_FISH_H