shift_tracking.c File Reference

#include "modules/ctrl/shift_tracking.h"
#include "firmwares/fixedwing/nav.h"
#include "autopilot.h"
#include "subsystems/abi.h"
#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"
#include "filters/pid.h"

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Data Structures
struct	shift_tracking_private

Macros
#define	SHIFT_TRACKING_ID   ABI_BROADCAST
#define	SHIFT_TRACKING_DEBUG   FALSE
#define	SHIFT_TRACKING_DIR   { -1.0f, 0.f, 0.f }
#define	SHIFT_TRACKING_KP   1.5f
#define	SHIFT_TRACKING_KI   0.5f
#define	SHIFT_TRACKING_KD   1.f
#define	SHIFT_TRACKING_MAXSHIFT   30.f

Functions
static void	get_pos (uint8_t sender_id, uint32_t id, float x, float y, float z, float noise_x, float noise_y, float noise_z)
void	shift_tracking_init (void)
	init function More...
void	shift_tracking_reset (void)
	reset function More...
void	shift_tracking_run (float *shift)
	run function More...
void	shift_tracking_update_gains (void)

Variables
struct shift_tracking_t	shift_tracking
static const float	nav_dt = 1.f / NAVIGATION_FREQUENCY
static struct shift_tracking_private	stp
static const float	dir [] = SHIFT_TRACKING_DIR

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Data Structure Documentation

shift_tracking_private

struct shift_tracking_private

Definition at line 81 of file shift_tracking.c.

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Data Fields
struct FloatVect3	dir	tracking direction
struct PID_f	pid	PID controller.
struct FloatVect3	pos	last position report
abi_event	pos_ev
float *	shift	keep track of the shift variable to change

Macro Definition Documentation

SHIFT_TRACKING_DEBUG

#define SHIFT_TRACKING_DEBUG   FALSE

Definition at line 46 of file shift_tracking.c.

SHIFT_TRACKING_DIR

#define SHIFT_TRACKING_DIR   { -1.0f, 0.f, 0.f }

Definition at line 56 of file shift_tracking.c.

SHIFT_TRACKING_ID

#define SHIFT_TRACKING_ID   ABI_BROADCAST

Definition at line 41 of file shift_tracking.c.

SHIFT_TRACKING_KD

#define SHIFT_TRACKING_KD   1.f

Definition at line 68 of file shift_tracking.c.

SHIFT_TRACKING_KI

#define SHIFT_TRACKING_KI   0.5f

Definition at line 64 of file shift_tracking.c.

SHIFT_TRACKING_KP

#define SHIFT_TRACKING_KP   1.5f

Definition at line 60 of file shift_tracking.c.

SHIFT_TRACKING_MAXSHIFT

#define SHIFT_TRACKING_MAXSHIFT   30.f

Definition at line 72 of file shift_tracking.c.

Function Documentation

get_pos()

static void get_pos ( uint8_t  sender_id, uint32_t  id, float  x, float  y, float  z, float  noise_x, float  noise_y, float  noise_z  )

static

Definition at line 94 of file shift_tracking.c.

References shift_tracking_private::pos, stp, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by shift_tracking_init().

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shift_tracking_init()

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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shift_tracking_reset()

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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shift_tracking_run()

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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shift_tracking_update_gains()

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

dir

const float dir[] = SHIFT_TRACKING_DIR

static

Definition at line 91 of file shift_tracking.c.

Referenced by _lseek_r(), angle_to_wall(), getFileName(), gpio_setup_input(), hist_restore_line(), hist_search(), nps_atmosphere_set_wind_dir(), nps_atmosphere_set_wind_ned(), nps_fdm_set_wind(), removeEmptyLogs(), shift_tracking_init(), and viewing_angle().

nav_dt

const float nav_dt = 1.f / NAVIGATION_FREQUENCY

static

Definition at line 78 of file shift_tracking.c.

Referenced by shift_tracking_run().

shift_tracking

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().

stp

struct shift_tracking_private stp

static

Definition at line 89 of file shift_tracking.c.

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