Paparazzi UAS
v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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obstacle_avoidance.h
Go to the documentation of this file.
1
/*
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* Copyright (C) 2015 Roland + Clint
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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27
#ifndef READ_MATRIX_SERIAL_H
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#define READ_MATRIX_SERIAL_H
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extern
void
serial_init
(
void
);
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extern
void
serial_update
(
void
);
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extern
void
serial_start
(
void
);
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void
setAnglesMeasurements
(
float
*anglesMeasurements,
float
*centersensorRad,
float
*fieldOfViewRad,
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uint16_t
*size_matrix_local);
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36
extern
void
pingpong_euler
(
float
*
distances_hor
,
float
*horizontalAnglesMeasurements,
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int
horizontalAmountOfMeasurements,
float
attitude_reference_pitch,
float
attitude_reference_roll,
float
dist_treshold
);
38
extern
void
matrix_2_pingpong
(
float
*distancesMeters,
uint16_t
*
size_matrix
,
float
*
distances_hor
);
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40
//functions CN
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extern
void
CN_matrix_Kalman_filter
(
void
);
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extern
void
CN_matrix_butterworth
(
void
);
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extern
void
CN_calculate_target
(
void
);
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extern
void
CN_potential_heading
(
void
);
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extern
void
CN_potential_velocity
(
void
);
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extern
void
CN_vector_velocity
(
void
);
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extern
void
CN_vector_escape_velocity
(
void
);
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extern
void
CN_escape_velocity
(
void
);
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//variables for settings
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//Vector Method
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extern
float
F1
;
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extern
float
F2
;
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extern
float
Cfreq
;
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extern
float
Ko
;
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extern
float
Kg
;
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extern
float
Dist_offset
;
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extern
int8_t
dis_treshold
;
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extern
float
dx_ref
;
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extern
float
dy_ref
;
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//Potential Method
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extern
float
K_goal
;
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extern
float
K_obst
;
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extern
float
b_damp
;
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extern
float
c1_oa
;
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extern
float
c2_oa
;
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extern
float
c3_oa
;
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extern
float
c4_oa
;
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extern
float
c5_oa
;
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extern
float
kv
;
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extern
float
epsilon
;
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#endif
CN_vector_velocity
void CN_vector_velocity(void)
Definition:
obstacle_avoidance.c:590
uint16_t
unsigned short uint16_t
Definition:
types.h:16
CN_matrix_Kalman_filter
void CN_matrix_Kalman_filter(void)
Definition:
obstacle_avoidance.c:263
dy_ref
float dy_ref
Definition:
obstacle_avoidance.c:81
CN_vector_escape_velocity
void CN_vector_escape_velocity(void)
Definition:
obstacle_avoidance.c:777
Ko
float Ko
Definition:
obstacle_avoidance.c:102
serial_update
void serial_update(void)
Definition:
obstacle_avoidance.c:176
Dist_offset
float Dist_offset
Definition:
obstacle_avoidance.c:104
c3_oa
float c3_oa
Definition:
obstacle_avoidance.c:115
matrix_2_pingpong
void matrix_2_pingpong(float *distancesMeters, uint16_t *size_matrix, float *distances_hor)
Definition:
obstacle_avoidance.c:237
F2
float F2
Definition:
obstacle_avoidance.c:100
K_obst
float K_obst
Definition:
obstacle_avoidance.c:112
distances_hor
float distances_hor[AVOIDANCES_DISTANCES_HOR_COUNT]
Definition:
obstacle_avoidance.c:67
epsilon
float epsilon
Definition:
obstacle_avoidance.c:119
size_matrix
uint16_t size_matrix[]
Definition:
obstacle_avoidance.c:57
pingpong_euler
void pingpong_euler(float *distances_hor, float *horizontalAnglesMeasurements, int horizontalAmountOfMeasurements, float attitude_reference_pitch, float attitude_reference_roll, float dist_treshold)
Definition:
obstacle_avoidance.c:357
serial_init
void serial_init(void)
Definition:
obstacle_avoidance.c:146
c2_oa
float c2_oa
Definition:
obstacle_avoidance.c:114
CN_matrix_butterworth
void CN_matrix_butterworth(void)
Definition:
obstacle_avoidance.c:295
kv
float kv
Definition:
obstacle_avoidance.c:118
CN_calculate_target
void CN_calculate_target(void)
Definition:
obstacle_avoidance.c:321
CN_potential_velocity
void CN_potential_velocity(void)
Definition:
obstacle_avoidance.c:506
dist_treshold
float dist_treshold
Definition:
obstacle_avoidance.c:66
F1
float F1
Definition:
obstacle_avoidance.c:99
K_goal
float K_goal
Definition:
obstacle_avoidance.c:111
CN_escape_velocity
void CN_escape_velocity(void)
Definition:
obstacle_avoidance.c:1032
c1_oa
float c1_oa
Definition:
obstacle_avoidance.c:113
CN_potential_heading
void CN_potential_heading(void)
Definition:
obstacle_avoidance.c:404
dx_ref
float dx_ref
Definition:
obstacle_avoidance.c:80
int8_t
signed char int8_t
Definition:
types.h:15
c4_oa
float c4_oa
Definition:
obstacle_avoidance.c:116
c5_oa
float c5_oa
Definition:
obstacle_avoidance.c:117
setAnglesMeasurements
void setAnglesMeasurements(float *anglesMeasurements, float *centersensorRad, float *fieldOfViewRad, uint16_t *size_matrix_local)
Definition:
obstacle_avoidance.c:164
Kg
float Kg
Definition:
obstacle_avoidance.c:103
Cfreq
float Cfreq
Definition:
obstacle_avoidance.c:101
serial_start
void serial_start(void)
Definition:
obstacle_avoidance.c:159
dis_treshold
int8_t dis_treshold
Definition:
obstacle_avoidance.c:105
b_damp
float b_damp
Definition:
obstacle_avoidance.c:110
sw
airborne
modules
obstacle_avoidance
obstacle_avoidance.h
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