fixedwingpathfollower.c File Reference

This module compared PositionActual to PathDesired and sets StabilizationDesired. It only does this when the FlightMode field of ManualControlCommand is Auto. More...

#include "openpilot.h"
#include "physical_constants.h"
#include "paths.h"
#include "misc_math.h"
#include "modulesettings.h"
#include "attitudeactual.h"
#include "pathdesired.h"
#include "positionactual.h"
#include "flightstatus.h"
#include "pathstatus.h"
#include "airspeedactual.h"
#include "gpsvelocity.h"
#include "gpsposition.h"
#include "fixedwingairspeeds.h"
#include "fixedwingpathfollowersettings.h"
#include "fixedwingpathfollowerstatus.h"
#include "homelocation.h"
#include "nedposition.h"
#include "stabilizationdesired.h"
#include "stabilizationsettings.h"
#include "systemsettings.h"
#include "velocitydesired.h"
#include "velocityactual.h"
#include "coordinate_conversions.h"
#include "pios_thread.h"

Go to the source code of this file.

Macros
#define	MAX_QUEUE_SIZE   4
#define	STACK_SIZE_BYTES   1548
#define	TASK_PRIORITY   PIOS_THREAD_PRIO_NORMAL

Functions
static void	pathfollowerTask (void *parameters)
static void	SettingsUpdatedCb (const UAVObjEvent *ev, void *ctx, void *obj, int len)
static void	updatePathVelocity ()
static uint8_t	updateFixedDesiredAttitude ()
static void	airspeedActualUpdatedCb (const UAVObjEvent *ev, void *ctx, void *obj, int len)
int32_t	FixedWingPathFollowerStart ()
int32_t	FixedWingPathFollowerInitialize ()

Variables
static bool	module_enabled = false
static struct pios_thread *	pathfollowerTaskHandle
static PathDesiredData	pathDesired
static PathStatusData	pathStatus
static FixedWingPathFollowerSettingsData	fixedwingpathfollowerSettings
static FixedWingAirspeedsData	fixedWingAirspeeds
static float	northVelIntegral = 0
static float	eastVelIntegral = 0
static float	downVelIntegral = 0
static float	bearingIntegral = 0
static float	speedIntegral = 0
static float	accelIntegral = 0
static float	powerIntegral = 0
static float	airspeedErrorInt =0
static float	indicatedAirspeedActualBias = 0
static bool	path_desired_updated

Detailed Description

This module compared PositionActual to PathDesired and sets StabilizationDesired. It only does this when the FlightMode field of ManualControlCommand is Auto.

Author

dRonin, http://dRonin.org/, Copyright (C) 2015-2016

Tau Labs, http://taulabs.org, Copyright (C) 2013-2014

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.

See Also

The GNU Public License (GPL) Version 3

Definition in file fixedwingpathfollower.c.