#include <AC_Circle.h>

Collaboration diagram for AC_Circle:

Classes
struct	circle_flags

Public Member Functions
	AC_Circle (const AP_InertialNav &inav, const AP_AHRS_View &ahrs, AC_PosControl &pos_control)
	Constructor. More...

void	init (const Vector3f &center)

void	init ()

void	set_center (const Vector3f &center)
	set_circle_center in cm from home More...

const Vector3f &	get_center () const
	get_circle_center in cm from home More...

float	get_radius ()
	get_radius - returns radius of circle in cm More...

void	set_radius (float radius_cm)
	set_radius - sets circle radius in cm More...

void	set_rate (float deg_per_sec)
	set_circle_rate - set circle rate in degrees per second More...

float	get_angle_total () const
	get_angle_total - return total angle in radians that vehicle has circled More...

void	update ()
	update - update circle controller More...

int32_t	get_roll () const
	get desired roll, pitch which should be fed into stabilize controllers More...

int32_t	get_pitch () const

int32_t	get_yaw () const

void	get_closest_point_on_circle (Vector3f &result)

float	get_distance_to_target () const
	get horizontal distance to loiter target in cm More...

int32_t	get_bearing_to_target () const
	get bearing to target in centi-degrees More...

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	calc_velocities (bool init_velocity)

void	init_start_angle (bool use_heading)

Private Attributes
struct AC_Circle::circle_flags	_flags

const AP_InertialNav &	_inav

const AP_AHRS_View &	_ahrs

AC_PosControl &	_pos_control

AP_Float	_radius

AP_Float	_rate

Vector3f	_center

float	_yaw

float	_angle

float	_angle_total

float	_angular_vel

float	_angular_vel_max

float	_angular_accel

Detailed Description

Definition at line 14 of file AC_Circle.h.

Constructor & Destructor Documentation

◆ AC_Circle()

AC_Circle::AC_Circle	(	const AP_InertialNav &	inav,
		const AP_AHRS_View &	ahrs,
		AC_PosControl &	pos_control
	)

Constructor.

Definition at line 33 of file AC_Circle.cpp.

Here is the call graph for this function:

Member Function Documentation

◆ calc_velocities()

void AC_Circle::calc_velocities ( bool init_velocity )

private

Definition at line 204 of file AC_Circle.cpp.

Referenced by init(), and set_rate().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_angle_total()

float AC_Circle::get_angle_total ( ) const

inline

get_angle_total - return total angle in radians that vehicle has circled

Definition at line 44 of file AC_Circle.h.

Here is the call graph for this function:

◆ get_bearing_to_target()

int32_t AC_Circle::get_bearing_to_target ( ) const

inline

get bearing to target in centi-degrees

Definition at line 65 of file AC_Circle.h.

Here is the call graph for this function:

◆ get_center()

const Vector3f& AC_Circle::get_center ( ) const

inline

get_circle_center in cm from home

Definition at line 33 of file AC_Circle.h.

◆ get_closest_point_on_circle()

void AC_Circle::get_closest_point_on_circle ( Vector3f & result )

Definition at line 170 of file AC_Circle.cpp.

Referenced by get_yaw().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_distance_to_target()

float AC_Circle::get_distance_to_target ( ) const

inline

get horizontal distance to loiter target in cm

Definition at line 62 of file AC_Circle.h.

Here is the call graph for this function:

◆ get_pitch()

int32_t AC_Circle::get_pitch ( ) const

inline

Definition at line 51 of file AC_Circle.h.

Here is the call graph for this function:

◆ get_radius()

float AC_Circle::get_radius ( )

inline

get_radius - returns radius of circle in cm

Definition at line 36 of file AC_Circle.h.

◆ get_roll()

int32_t AC_Circle::get_roll ( ) const

inline

get desired roll, pitch which should be fed into stabilize controllers

Definition at line 50 of file AC_Circle.h.

Here is the call graph for this function:

◆ get_yaw()

int32_t AC_Circle::get_yaw ( ) const

inline

Definition at line 52 of file AC_Circle.h.

Here is the call graph for this function:

◆ init() [1/2]

void AC_Circle::init ( const Vector3f & center )

init - initialise circle controller setting center specifically caller should set the position controller's x,y and z speeds and accelerations before calling this

Definition at line 52 of file AC_Circle.cpp.

Here is the call graph for this function:

◆ init() [2/2]

void AC_Circle::init ( )

init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading caller should set the position controller's x,y and z speeds and accelerations before calling this

Definition at line 74 of file AC_Circle.cpp.

Here is the call graph for this function:

◆ init_start_angle()

void AC_Circle::init_start_angle ( bool use_heading )

private

Definition at line 231 of file AC_Circle.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ set_center()

void AC_Circle::set_center ( const Vector3f & center )

inline

set_circle_center in cm from home

Definition at line 30 of file AC_Circle.h.

◆ set_radius()

void AC_Circle::set_radius ( float radius_cm )

inline

set_radius - sets circle radius in cm

Definition at line 38 of file AC_Circle.h.

Here is the call graph for this function:

◆ set_rate()

void AC_Circle::set_rate ( float deg_per_sec )

set_circle_rate - set circle rate in degrees per second

Definition at line 101 of file AC_Circle.cpp.

Referenced by set_radius().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ update()

void AC_Circle::update ( )

update - update circle controller

Definition at line 110 of file AC_Circle.cpp.

Referenced by get_angle_total().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _ahrs

const AP_AHRS_View& AC_Circle::_ahrs

private

Definition at line 89 of file AC_Circle.h.

Referenced by get_closest_point_on_circle(), init(), and init_start_angle().

◆ _angle

float AC_Circle::_angle

private

Definition at line 99 of file AC_Circle.h.

Referenced by init_start_angle(), and update().

◆ _angle_total

float AC_Circle::_angle_total

private

Definition at line 100 of file AC_Circle.h.

Referenced by get_angle_total(), init_start_angle(), and update().

◆ _angular_accel

float AC_Circle::_angular_accel

private

Definition at line 103 of file AC_Circle.h.

Referenced by calc_velocities(), and update().

◆ _angular_vel

float AC_Circle::_angular_vel

private

Definition at line 101 of file AC_Circle.h.

Referenced by calc_velocities(), and update().

◆ _angular_vel_max

float AC_Circle::_angular_vel_max

private

Definition at line 102 of file AC_Circle.h.

Referenced by calc_velocities(), and update().

◆ _center

Vector3f AC_Circle::_center

private

Definition at line 97 of file AC_Circle.h.

Referenced by get_center(), get_closest_point_on_circle(), init(), init_start_angle(), set_center(), and update().

◆ _flags

struct AC_Circle::circle_flags AC_Circle::_flags

private

Referenced by AC_Circle().

◆ _inav

const AP_InertialNav& AC_Circle::_inav

private

Definition at line 88 of file AC_Circle.h.

Referenced by get_closest_point_on_circle(), and init_start_angle().

◆ _pos_control

AC_PosControl& AC_Circle::_pos_control

private

Definition at line 90 of file AC_Circle.h.

Referenced by calc_velocities(), get_bearing_to_target(), get_distance_to_target(), get_pitch(), get_roll(), init(), and update().

◆ _radius

AP_Float AC_Circle::_radius

private

Definition at line 93 of file AC_Circle.h.

Referenced by calc_velocities(), get_closest_point_on_circle(), get_radius(), init(), init_start_angle(), set_radius(), and update().

◆ _rate

AP_Float AC_Circle::_rate

private

Definition at line 94 of file AC_Circle.h.

Referenced by calc_velocities(), and set_rate().

◆ _yaw

float AC_Circle::_yaw

private

Definition at line 98 of file AC_Circle.h.

Referenced by get_yaw(), and update().

◆ var_info

const AP_Param::GroupInfo AC_Circle::var_info

static

Initial value:

= {
    
    AP_GROUPINFO("RADIUS",  0,  AC_Circle, _radius, AC_CIRCLE_RADIUS_DEFAULT),
    
    AP_GROUPINFO("RATE",    1, AC_Circle, _rate,    AC_CIRCLE_RATE_DEFAULT),
    AP_GROUPEND
}

Definition at line 67 of file AC_Circle.h.

Referenced by AC_Circle().

The documentation for this class was generated from the following files:

libraries/AC_WPNav/AC_Circle.h
libraries/AC_WPNav/AC_Circle.cpp

Classes

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AC_Circle()

Member Function Documentation

◆ calc_velocities()

◆ get_angle_total()

◆ get_bearing_to_target()

◆ get_center()

◆ get_closest_point_on_circle()

◆ get_distance_to_target()

◆ get_pitch()

◆ get_radius()

◆ get_roll()

◆ get_yaw()

◆ init() [1/2]

◆ init() [2/2]

◆ init_start_angle()

◆ set_center()

◆ set_radius()

◆ set_rate()

◆ update()

Member Data Documentation

◆ _ahrs

◆ _angle

◆ _angle_total

◆ _angular_accel

◆ _angular_vel

◆ _angular_vel_max

◆ _center

◆ _flags

◆ _inav

◆ _pos_control

◆ _radius

◆ _rate

◆ _yaw

◆ var_info