#include <AP_L1_Control.h>

Inheritance diagram for AP_L1_Control:

Collaboration diagram for AP_L1_Control:

Public Member Functions
	AP_L1_Control (AP_AHRS &ahrs, const AP_SpdHgtControl *spdHgtControl)

	AP_L1_Control (const AP_L1_Control &other)=delete

AP_L1_Control &	operator= (const AP_L1_Control &)=delete

int32_t	nav_roll_cd (void) const

float	lateral_acceleration (void) const

int32_t	nav_bearing_cd (void) const

int32_t	bearing_error_cd (void) const

float	crosstrack_error (void) const

float	crosstrack_error_integrator (void) const

int32_t	target_bearing_cd (void) const

float	turn_distance (float wp_radius) const

float	turn_distance (float wp_radius, float turn_angle) const

float	loiter_radius (const float loiter_radius) const

void	update_waypoint (const struct Location &prev_WP, const struct Location &next_WP, float dist_min=0.0f)

void	update_loiter (const struct Location &center_WP, float radius, int8_t loiter_direction)

void	update_heading_hold (int32_t navigation_heading_cd)

void	update_level_flight (void)

bool	reached_loiter_target (void)

void	set_default_period (float period)

void	set_data_is_stale (void)

bool	data_is_stale (void) const

void	set_reverse (bool reverse)

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

Private Member Functions
void	_prevent_indecision (float &Nu)

float	get_yaw ()

float	get_yaw_sensor ()

Private Attributes
AP_AHRS &	_ahrs

const AP_SpdHgtControl *	_spdHgtControl

float	_latAccDem

float	_L1_dist

bool	_WPcircle

float	_nav_bearing

float	_bearing_error

float	_crosstrack_error

int32_t	_target_bearing_cd

AP_Float	_L1_period

AP_Float	_L1_damping

float	_last_Nu

float	_L1_xtrack_i = 0

AP_Float	_L1_xtrack_i_gain

float	_L1_xtrack_i_gain_prev = 0

uint32_t	_last_update_waypoint_us

bool	_data_is_stale = true

AP_Float	_loiter_bank_limit

bool	_reverse = false

Additional Inherited Members
Public Types inherited from AP_Navigation
enum	ControllerType { CONTROLLER_DEFAULT = 0, CONTROLLER_L1 = 1 }

Detailed Description

Definition at line 22 of file AP_L1_Control.h.

Constructor & Destructor Documentation

◆ AP_L1_Control() [1/2]

AP_L1_Control::AP_L1_Control	(	AP_AHRS &	ahrs,
		const AP_SpdHgtControl *	spdHgtControl
	)

inline

Definition at line 24 of file AP_L1_Control.h.

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◆ AP_L1_Control() [2/2]

AP_L1_Control::AP_L1_Control ( const AP_L1_Control & other )

delete

Member Function Documentation

◆ _prevent_indecision()

void AP_L1_Control::_prevent_indecision ( float & Nu )

private

prevent indecision in our turning by using our previous turn decision if we are in a narrow angle band pointing away from the target and the turn angle has changed sign

Definition at line 182 of file AP_L1_Control.cpp.

Referenced by update_loiter(), and update_waypoint().

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◆ bearing_error_cd()

int32_t AP_L1_Control::bearing_error_cd ( void ) const

virtual

Implements AP_Navigation.

Definition at line 101 of file AP_L1_Control.cpp.

Referenced by AP_L1_Control().

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◆ crosstrack_error()

float AP_L1_Control::crosstrack_error ( void ) const

inlinevirtual

Implements AP_Navigation.

Definition at line 46 of file AP_L1_Control.h.

◆ crosstrack_error_integrator()

float AP_L1_Control::crosstrack_error_integrator ( void ) const

inlinevirtual

Reimplemented from AP_Navigation.

Definition at line 47 of file AP_L1_Control.h.

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◆ data_is_stale()

bool AP_L1_Control::data_is_stale ( void ) const

inlinevirtual

Implements AP_Navigation.

Definition at line 67 of file AP_L1_Control.h.

◆ get_yaw()

float AP_L1_Control::get_yaw ( )

private

Definition at line 56 of file AP_L1_Control.cpp.

Referenced by update_waypoint().

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◆ get_yaw_sensor()

float AP_L1_Control::get_yaw_sensor ( )

private

Definition at line 67 of file AP_L1_Control.cpp.

Referenced by _prevent_indecision().

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◆ lateral_acceleration()

float AP_L1_Control::lateral_acceleration ( void ) const

virtual

Implements AP_Navigation.

Definition at line 91 of file AP_L1_Control.cpp.

Referenced by AP_L1_Control().

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◆ loiter_radius()

float AP_L1_Control::loiter_radius ( const float loiter_radius ) const

virtual

Implements AP_Navigation.

Definition at line 138 of file AP_L1_Control.cpp.

Referenced by crosstrack_error_integrator(), and update_loiter().

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◆ nav_bearing_cd()

int32_t AP_L1_Control::nav_bearing_cd ( void ) const

virtual

Implements AP_Navigation.

Definition at line 96 of file AP_L1_Control.cpp.

Referenced by AP_L1_Control().

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◆ nav_roll_cd()

int32_t AP_L1_Control::nav_roll_cd ( void ) const

virtual

Implements AP_Navigation.

Definition at line 79 of file AP_L1_Control.cpp.

Referenced by AP_L1_Control().

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◆ operator=()

AP_L1_Control& AP_L1_Control::operator= ( const AP_L1_Control & )

delete

Referenced by AP_L1_Control().

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◆ reached_loiter_target()

bool AP_L1_Control::reached_loiter_target ( void )

virtual

Implements AP_Navigation.

Definition at line 172 of file AP_L1_Control.cpp.

Referenced by crosstrack_error_integrator().

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◆ set_data_is_stale()

void AP_L1_Control::set_data_is_stale ( void )

inlinevirtual

Implements AP_Navigation.

Definition at line 64 of file AP_L1_Control.h.

◆ set_default_period()

void AP_L1_Control::set_default_period ( float period )

inline

Definition at line 60 of file AP_L1_Control.h.

◆ set_reverse()

void AP_L1_Control::set_reverse ( bool reverse )

inlinevirtual

Implements AP_Navigation.

Definition at line 74 of file AP_L1_Control.h.

◆ target_bearing_cd()

int32_t AP_L1_Control::target_bearing_cd ( void ) const

virtual

Implements AP_Navigation.

Definition at line 106 of file AP_L1_Control.cpp.

Referenced by crosstrack_error_integrator().

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◆ turn_distance() [1/2]

float AP_L1_Control::turn_distance ( float wp_radius ) const

virtual

Implements AP_Navigation.

Definition at line 114 of file AP_L1_Control.cpp.

Referenced by crosstrack_error_integrator(), and turn_distance().

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◆ turn_distance() [2/2]

float AP_L1_Control::turn_distance	(	float	wp_radius,
		float	turn_angle
	)		const

virtual

Implements AP_Navigation.

Definition at line 128 of file AP_L1_Control.cpp.

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◆ update_heading_hold()

void AP_L1_Control::update_heading_hold ( int32_t navigation_heading_cd )

virtual

Implements AP_Navigation.

Definition at line 446 of file AP_L1_Control.cpp.

Referenced by crosstrack_error_integrator().

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◆ update_level_flight()

void AP_L1_Control::update_level_flight ( void )

virtual

Implements AP_Navigation.

Definition at line 487 of file AP_L1_Control.cpp.

Referenced by crosstrack_error_integrator().

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◆ update_loiter()

void AP_L1_Control::update_loiter	(	const struct Location &	center_WP,
		float	radius,
		int8_t	loiter_direction
	)

virtual

Implements AP_Navigation.

Definition at line 333 of file AP_L1_Control.cpp.

Referenced by crosstrack_error_integrator().

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◆ update_waypoint()

void AP_L1_Control::update_waypoint	(	const struct Location &	prev_WP,
		const struct Location &	next_WP,
		float	dist_min = `0.0f`
	)

virtual

Implements AP_Navigation.

Definition at line 198 of file AP_L1_Control.cpp.

Referenced by crosstrack_error_integrator().

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Member Data Documentation

◆ _ahrs

AP_AHRS& AP_L1_Control::_ahrs

private

Definition at line 80 of file AP_L1_Control.h.

Referenced by get_yaw(), get_yaw_sensor(), loiter_radius(), nav_roll_cd(), turn_distance(), update_heading_hold(), update_level_flight(), update_loiter(), and update_waypoint().

◆ _bearing_error

float AP_L1_Control::_bearing_error

private

Definition at line 99 of file AP_L1_Control.h.

Referenced by bearing_error_cd(), update_heading_hold(), update_level_flight(), update_loiter(), and update_waypoint().

◆ _crosstrack_error

float AP_L1_Control::_crosstrack_error

private

Definition at line 102 of file AP_L1_Control.h.

Referenced by crosstrack_error(), update_heading_hold(), update_level_flight(), update_loiter(), and update_waypoint().

◆ _data_is_stale

bool AP_L1_Control::_data_is_stale = true

private

Definition at line 124 of file AP_L1_Control.h.

Referenced by data_is_stale(), set_data_is_stale(), update_heading_hold(), update_level_flight(), update_loiter(), and update_waypoint().

◆ _L1_damping

AP_Float AP_L1_Control::_L1_damping

private

Definition at line 110 of file AP_L1_Control.h.

Referenced by update_loiter(), and update_waypoint().

◆ _L1_dist

float AP_L1_Control::_L1_dist

private

Definition at line 90 of file AP_L1_Control.h.

Referenced by turn_distance(), update_heading_hold(), update_loiter(), and update_waypoint().

◆ _L1_period

AP_Float AP_L1_Control::_L1_period

private

Definition at line 108 of file AP_L1_Control.h.

Referenced by set_default_period(), update_heading_hold(), update_loiter(), and update_waypoint().

◆ _L1_xtrack_i

float AP_L1_Control::_L1_xtrack_i = 0

private

Definition at line 120 of file AP_L1_Control.h.

Referenced by crosstrack_error_integrator(), and update_waypoint().

◆ _L1_xtrack_i_gain

AP_Float AP_L1_Control::_L1_xtrack_i_gain

private

Definition at line 121 of file AP_L1_Control.h.

Referenced by update_waypoint().

◆ _L1_xtrack_i_gain_prev

float AP_L1_Control::_L1_xtrack_i_gain_prev = 0

private

Definition at line 122 of file AP_L1_Control.h.

Referenced by update_waypoint().

◆ _last_Nu

float AP_L1_Control::_last_Nu

private

Definition at line 113 of file AP_L1_Control.h.

Referenced by _prevent_indecision(), update_loiter(), and update_waypoint().

◆ _last_update_waypoint_us

uint32_t AP_L1_Control::_last_update_waypoint_us

private

Definition at line 123 of file AP_L1_Control.h.

Referenced by update_waypoint().

◆ _latAccDem

float AP_L1_Control::_latAccDem

private

Definition at line 87 of file AP_L1_Control.h.

Referenced by lateral_acceleration(), nav_roll_cd(), update_heading_hold(), update_level_flight(), update_loiter(), and update_waypoint().

◆ _loiter_bank_limit

AP_Float AP_L1_Control::_loiter_bank_limit

private

Definition at line 126 of file AP_L1_Control.h.

Referenced by loiter_radius().

◆ _nav_bearing

float AP_L1_Control::_nav_bearing

private

Definition at line 96 of file AP_L1_Control.h.

Referenced by nav_bearing_cd(), update_heading_hold(), update_level_flight(), update_loiter(), and update_waypoint().

◆ _reverse

bool AP_L1_Control::_reverse = false

private

Definition at line 128 of file AP_L1_Control.h.

Referenced by get_yaw(), get_yaw_sensor(), and set_reverse().

◆ _spdHgtControl

const AP_SpdHgtControl* AP_L1_Control::_spdHgtControl

private

Definition at line 83 of file AP_L1_Control.h.

Referenced by loiter_radius().

◆ _target_bearing_cd

int32_t AP_L1_Control::_target_bearing_cd

private

Definition at line 105 of file AP_L1_Control.h.

Referenced by _prevent_indecision(), target_bearing_cd(), update_heading_hold(), update_level_flight(), update_loiter(), and update_waypoint().

◆ _WPcircle

bool AP_L1_Control::_WPcircle

private

Definition at line 93 of file AP_L1_Control.h.

Referenced by reached_loiter_target(), update_heading_hold(), update_level_flight(), update_loiter(), and update_waypoint().

◆ var_info

const AP_Param::GroupInfo AP_L1_Control::var_info

static

Definition at line 72 of file AP_L1_Control.h.

Referenced by AP_L1_Control().

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

libraries/AP_L1_Control/AP_L1_Control.h
libraries/AP_L1_Control/AP_L1_Control.cpp

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_L1_Control() [1/2]

◆ AP_L1_Control() [2/2]

Member Function Documentation

◆ _prevent_indecision()

◆ bearing_error_cd()

◆ crosstrack_error()

◆ crosstrack_error_integrator()

◆ data_is_stale()

◆ get_yaw()

◆ get_yaw_sensor()

◆ lateral_acceleration()

◆ loiter_radius()

◆ nav_bearing_cd()

◆ nav_roll_cd()

◆ operator=()

◆ reached_loiter_target()

◆ set_data_is_stale()

◆ set_default_period()

◆ set_reverse()

◆ target_bearing_cd()

◆ turn_distance() [1/2]

◆ turn_distance() [2/2]

◆ update_heading_hold()

◆ update_level_flight()

◆ update_loiter()

◆ update_waypoint()

Member Data Documentation

◆ _ahrs

◆ _bearing_error

◆ _crosstrack_error

◆ _data_is_stale

◆ _L1_damping

◆ _L1_dist

◆ _L1_period

◆ _L1_xtrack_i

◆ _L1_xtrack_i_gain

◆ _L1_xtrack_i_gain_prev

◆ _last_Nu

◆ _last_update_waypoint_us

◆ _latAccDem

◆ _loiter_bank_limit

◆ _nav_bearing

◆ _reverse

◆ _spdHgtControl

◆ _target_bearing_cd

◆ _WPcircle

◆ var_info