#include <AC_Loiter.h>

Collaboration diagram for AC_Loiter:

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

void	set_avoidance (AC_Avoid *avoid_ptr)
	provide pointer to avoidance library More...

void	init_target (const Vector3f &position)
	init_target to a position in cm from ekf origin More...

void	init_target ()
	initialize's position and feed-forward velocity from current pos and velocity More...

void	soften_for_landing ()
	reduce response for landing More...

void	set_pilot_desired_acceleration (float euler_roll_angle_cd, float euler_pitch_angle_cd, float dt)
	set pilot desired acceleration in centi-degrees More...

Vector2f	get_pilot_desired_acceleration () const
	gets pilot desired acceleration, body frame, [forward,right] More...

void	clear_pilot_desired_acceleration ()
	clear pilot desired acceleration More...

void	get_stopping_point_xy (Vector3f &stopping_point) const
	get vector to stopping point based on a horizontal position and velocity More...

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...

float	get_angle_max_cd () const
	get maximum lean angle when using loiter More...

void	update (float ekfGndSpdLimit, float ekfNavVelGainScaler)
	run the loiter controller More...

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

int32_t	get_pitch () const

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

Protected Member Functions
void	sanity_check_params ()

void	calc_desired_velocity (float nav_dt, float ekfGndSpdLimit)

Protected Attributes
const AP_InertialNav &	_inav

const AP_AHRS_View &	_ahrs

AC_PosControl &	_pos_control

const AC_AttitudeControl &	_attitude_control

AC_Avoid *	_avoid = nullptr

AP_Float	_angle_max

AP_Float	_speed_cms

AP_Float	_accel_cmss

AP_Float	_brake_accel_cmss

AP_Float	_brake_jerk_max_cmsss

AP_Float	_brake_delay

Vector2f	_desired_accel

Vector2f	_predicted_accel

Vector2f	_predicted_euler_angle

Vector2f	_predicted_euler_rate

float	_brake_timer

float	_brake_accel

Detailed Description

Definition at line 12 of file AC_Loiter.h.

Constructor & Destructor Documentation

◆ AC_Loiter()

AC_Loiter::AC_Loiter	(	const AP_InertialNav &	inav,
		const AP_AHRS_View &	ahrs,
		AC_PosControl &	pos_control,
		const AC_AttitudeControl &	attitude_control
	)

Constructor.

Definition at line 79 of file AC_Loiter.cpp.

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Member Function Documentation

◆ calc_desired_velocity()

void AC_Loiter::calc_desired_velocity	(	float	nav_dt,
		float	ekfGndSpdLimit
	)

protected

updates desired velocity (i.e. feed forward) with pilot requested acceleration and fake wind resistance updated velocity sent directly to position controller

calc_desired_velocity - updates desired velocity (i.e. feed forward) with pilot requested acceleration and fake wind resistance updated velocity sent directly to position controller

Definition at line 230 of file AC_Loiter.cpp.

Referenced by update().

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◆ clear_pilot_desired_acceleration()

void AC_Loiter::clear_pilot_desired_acceleration ( )

inline

clear pilot desired acceleration

Definition at line 39 of file AC_Loiter.h.

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◆ get_angle_max_cd()

float AC_Loiter::get_angle_max_cd ( ) const

get maximum lean angle when using loiter

Definition at line 196 of file AC_Loiter.cpp.

Referenced by calc_desired_velocity(), get_bearing_to_target(), and init_target().

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◆ get_bearing_to_target()

int32_t AC_Loiter::get_bearing_to_target ( ) const

inline

get bearing to target in centi-degrees

Definition at line 48 of file AC_Loiter.h.

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◆ get_distance_to_target()

float AC_Loiter::get_distance_to_target ( ) const

inline

get horizontal distance to loiter target in cm

Definition at line 45 of file AC_Loiter.h.

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◆ get_pilot_desired_acceleration()

Vector2f AC_Loiter::get_pilot_desired_acceleration ( ) const

inline

gets pilot desired acceleration, body frame, [forward,right]

Definition at line 36 of file AC_Loiter.h.

◆ get_pitch()

int32_t AC_Loiter::get_pitch ( ) const

inline

Definition at line 58 of file AC_Loiter.h.

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◆ get_roll()

int32_t AC_Loiter::get_roll ( ) const

inline

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

Definition at line 57 of file AC_Loiter.h.

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◆ get_stopping_point_xy()

void AC_Loiter::get_stopping_point_xy ( Vector3f & stopping_point ) const

get vector to stopping point based on a horizontal position and velocity

Definition at line 190 of file AC_Loiter.cpp.

Referenced by clear_pilot_desired_acceleration().

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◆ init_target() [1/2]

void AC_Loiter::init_target ( const Vector3f & position )

init_target to a position in cm from ekf origin

Definition at line 89 of file AC_Loiter.cpp.

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◆ init_target() [2/2]

void AC_Loiter::init_target ( )

initialize's position and feed-forward velocity from current pos and velocity

Definition at line 114 of file AC_Loiter.cpp.

Referenced by set_avoidance().

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◆ sanity_check_params()

void AC_Loiter::sanity_check_params ( )

protected

Definition at line 222 of file AC_Loiter.cpp.

Referenced by init_target().

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◆ set_avoidance()

void AC_Loiter::set_avoidance ( AC_Avoid * avoid_ptr )

inline

provide pointer to avoidance library

Definition at line 20 of file AC_Loiter.h.

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◆ set_pilot_desired_acceleration()

void AC_Loiter::set_pilot_desired_acceleration	(	float	euler_roll_angle_cd,
		float	euler_pitch_angle_cd,
		float	dt
	)

set pilot desired acceleration in centi-degrees

Definition at line 157 of file AC_Loiter.cpp.

Referenced by set_avoidance().

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◆ soften_for_landing()

void AC_Loiter::soften_for_landing ( )

reduce response for landing

Definition at line 147 of file AC_Loiter.cpp.

Referenced by set_avoidance().

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◆ update()

void AC_Loiter::update	(	float	ekfGndSpdLimit,
		float	ekfNavVelGainScaler
	)

run the loiter controller

Definition at line 205 of file AC_Loiter.cpp.

Referenced by get_bearing_to_target().

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Member Data Documentation

◆ _accel_cmss

AP_Float AC_Loiter::_accel_cmss

protected

Definition at line 81 of file AC_Loiter.h.

Referenced by calc_desired_velocity(), init_target(), sanity_check_params(), and update().

◆ _ahrs

const AP_AHRS_View& AC_Loiter::_ahrs

protected

Definition at line 73 of file AC_Loiter.h.

Referenced by set_pilot_desired_acceleration().

◆ _angle_max

AP_Float AC_Loiter::_angle_max

protected

Definition at line 79 of file AC_Loiter.h.

Referenced by get_angle_max_cd().

◆ _attitude_control

const AC_AttitudeControl& AC_Loiter::_attitude_control

protected

Definition at line 75 of file AC_Loiter.h.

Referenced by get_angle_max_cd(), init_target(), sanity_check_params(), and set_pilot_desired_acceleration().

◆ _avoid

AC_Avoid* AC_Loiter::_avoid = nullptr

protected

Definition at line 76 of file AC_Loiter.h.

Referenced by calc_desired_velocity(), and set_avoidance().

◆ _brake_accel

float AC_Loiter::_brake_accel

protected

Definition at line 92 of file AC_Loiter.h.

Referenced by calc_desired_velocity().

◆ _brake_accel_cmss

AP_Float AC_Loiter::_brake_accel_cmss

protected

Definition at line 82 of file AC_Loiter.h.

Referenced by calc_desired_velocity().

◆ _brake_delay

AP_Float AC_Loiter::_brake_delay

protected

Definition at line 84 of file AC_Loiter.h.

Referenced by calc_desired_velocity().

◆ _brake_jerk_max_cmsss

AP_Float AC_Loiter::_brake_jerk_max_cmsss

protected

Definition at line 83 of file AC_Loiter.h.

Referenced by calc_desired_velocity().

◆ _brake_timer

float AC_Loiter::_brake_timer

protected

Definition at line 91 of file AC_Loiter.h.

Referenced by calc_desired_velocity().

◆ _desired_accel

Vector2f AC_Loiter::_desired_accel

protected

Definition at line 87 of file AC_Loiter.h.

Referenced by calc_desired_velocity(), clear_pilot_desired_acceleration(), get_pilot_desired_acceleration(), init_target(), and set_pilot_desired_acceleration().

◆ _inav

const AP_InertialNav& AC_Loiter::_inav

protected

Definition at line 72 of file AC_Loiter.h.

Referenced by init_target(), and soften_for_landing().

◆ _pos_control

AC_PosControl& AC_Loiter::_pos_control

protected

Definition at line 74 of file AC_Loiter.h.

Referenced by calc_desired_velocity(), get_angle_max_cd(), get_bearing_to_target(), get_distance_to_target(), get_pitch(), get_roll(), get_stopping_point_xy(), init_target(), soften_for_landing(), and update().

◆ _predicted_accel

Vector2f AC_Loiter::_predicted_accel

protected

Definition at line 88 of file AC_Loiter.h.

Referenced by calc_desired_velocity(), init_target(), and set_pilot_desired_acceleration().

◆ _predicted_euler_angle

Vector2f AC_Loiter::_predicted_euler_angle

protected

Definition at line 89 of file AC_Loiter.h.

Referenced by init_target(), and set_pilot_desired_acceleration().

◆ _predicted_euler_rate

Vector2f AC_Loiter::_predicted_euler_rate

protected

Definition at line 90 of file AC_Loiter.h.

Referenced by set_pilot_desired_acceleration().

◆ _speed_cms

AP_Float AC_Loiter::_speed_cms

protected

Definition at line 80 of file AC_Loiter.h.

Referenced by calc_desired_velocity(), init_target(), sanity_check_params(), and update().

◆ var_info

const AP_Param::GroupInfo AC_Loiter::var_info

static

Definition at line 60 of file AC_Loiter.h.

Referenced by AC_Loiter().

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

libraries/AC_WPNav/AC_Loiter.h
libraries/AC_WPNav/AC_Loiter.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AC_Loiter()

Member Function Documentation

◆ calc_desired_velocity()

◆ clear_pilot_desired_acceleration()

◆ get_angle_max_cd()

◆ get_bearing_to_target()

◆ get_distance_to_target()

◆ get_pilot_desired_acceleration()

◆ get_pitch()

◆ get_roll()

◆ get_stopping_point_xy()

◆ init_target() [1/2]

◆ init_target() [2/2]

◆ sanity_check_params()

◆ set_avoidance()

◆ set_pilot_desired_acceleration()

◆ soften_for_landing()

◆ update()

Member Data Documentation

◆ _accel_cmss

◆ _ahrs

◆ _angle_max

◆ _attitude_control

◆ _avoid

◆ _brake_accel

◆ _brake_accel_cmss

◆ _brake_delay

◆ _brake_jerk_max_cmsss

◆ _brake_timer

◆ _desired_accel

◆ _inav

◆ _pos_control

◆ _predicted_accel

◆ _predicted_euler_angle

◆ _predicted_euler_rate

◆ _speed_cms

◆ var_info