potential.c File Reference

#include <math.h>
#include "subsystems/datalink/downlink.h"
#include "pprzlink/dl_protocol.h"
#include "potential.h"
#include "state.h"
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "autopilot.h"
#include "subsystems/gps.h"
#include "generated/airframe.h"

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Macros
#define	POTENTIAL_C
#define	FORCE_POS_GAIN   1.
#define	FORCE_SPEED_GAIN   1.
#define	FORCE_CLIMB_GAIN   1.
#define	FORCE_MAX_DIST   100.

Functions
void	potential_init (void)
int	potential_task (void)

Variables
struct force_	potential_force
float	force_pos_gain
float	force_speed_gain
float	force_climb_gain

Macro Definition Documentation

FORCE_CLIMB_GAIN

#define FORCE_CLIMB_GAIN   1.

Definition at line 36 of file potential.c.

FORCE_MAX_DIST

#define FORCE_MAX_DIST   100.

Definition at line 40 of file potential.c.

FORCE_POS_GAIN

#define FORCE_POS_GAIN   1.

Definition at line 28 of file potential.c.

FORCE_SPEED_GAIN

#define FORCE_SPEED_GAIN   1.

Definition at line 32 of file potential.c.

POTENTIAL_C

#define POTENTIAL_C

Definition at line 4 of file potential.c.

Function Documentation

potential_init()

void potential_init

(

void

)

Definition at line 43 of file potential.c.

References force_::alt, force_::climb, force_::east, force_climb_gain, FORCE_CLIMB_GAIN, force_pos_gain, FORCE_POS_GAIN, force_speed_gain, FORCE_SPEED_GAIN, force_::north, potential_force, and force_::speed.

potential_task()

int potential_task

(

void

)

Definition at line 58 of file potential.c.

References ac_id, acInfoGetItow(), acInfoGetPositionEnu_f(), acInfoGetVelocityEnu_f(), force_::alt, CARROT, force_::climb, DefaultChannel, DefaultDevice, desired_x, desired_y, dn, force_::east, fly_to_xy(), force_climb_gain, FORCE_MAX_DIST, force_pos_gain, force_speed_gain, gps, Max, NavVerticalAutoThrottleMode, NavVerticalClimbMode, NB_ACS, force_::north, potential_force, force_::speed, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), ti_acs, GpsState::tow, V_CTL_ALTITUDE_MAX_CLIMB, v_ctl_auto_throttle_cruise_throttle, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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Variable Documentation

force_climb_gain

float force_climb_gain

Definition at line 25 of file potential.c.

Referenced by potential_init(), and potential_task().

force_pos_gain

float force_pos_gain

Definition at line 23 of file potential.c.

Referenced by potential_init(), and potential_task().

force_speed_gain

float force_speed_gain

Definition at line 24 of file potential.c.

Referenced by potential_init(), and potential_task().

potential_force

struct force_ potential_force

Definition at line 21 of file potential.c.

Referenced by potential_init(), and potential_task().