#include <AP_Soaring.h>

Collaboration diagram for SoaringController:

Public Member Functions
	SoaringController (AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms)

void	get_target (Location &wp)

bool	suppress_throttle ()

bool	check_thermal_criteria ()

bool	check_cruise_criteria ()

bool	check_init_thermal_criteria ()

void	init_thermalling ()

void	init_cruising ()

void	update_thermalling ()

void	update_cruising ()

bool	is_active () const

bool	get_throttle_suppressed () const

void	set_throttle_suppressed (bool suppressed)

float	get_vario_reading () const

void	update_vario ()

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

Protected Attributes
AP_Int8	soar_active

AP_Int8	soar_active_ch

AP_Float	thermal_vspeed

AP_Float	thermal_q1

AP_Float	thermal_q2

AP_Float	thermal_r

AP_Float	thermal_distance_ahead

AP_Int16	min_thermal_s

AP_Int16	min_cruise_s

AP_Float	polar_CD0

AP_Float	polar_B

AP_Float	polar_K

AP_Float	alt_max

AP_Float	alt_min

AP_Float	alt_cutoff

Private Member Functions
float	McCready (float alt)

void	get_wind_corrected_drift (const Location current_loc, const Vector3f wind, float wind_drift_x, float wind_drift_y, float dx, float dy)

void	get_altitude_wrt_home (float *alt)

Private Attributes
ExtendedKalmanFilter	_ekf {}

AP_AHRS &	_ahrs

AP_SpdHgtControl &	_spdHgt

Variometer	_vario

struct Location	_prev_update_location

unsigned long	_thermal_start_time_us

unsigned long	_cruise_start_time_us

unsigned long	_prev_update_time

float	_loiter_rad

bool	_throttle_suppressed

Detailed Description

Definition at line 28 of file AP_Soaring.h.

Constructor & Destructor Documentation

◆ SoaringController()

SoaringController::SoaringController	(	AP_AHRS &	ahrs,
		AP_SpdHgtControl &	spdHgt,
		const AP_Vehicle::FixedWing &	parms
	)

Definition at line 131 of file AP_Soaring.cpp.

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Member Function Documentation

◆ check_cruise_criteria()

bool SoaringController::check_cruise_criteria ( )

Definition at line 178 of file AP_Soaring.cpp.

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◆ check_init_thermal_criteria()

bool SoaringController::check_init_thermal_criteria ( )

Definition at line 194 of file AP_Soaring.cpp.

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◆ check_thermal_criteria()

bool SoaringController::check_thermal_criteria ( )

Definition at line 169 of file AP_Soaring.cpp.

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◆ get_altitude_wrt_home()

void SoaringController::get_altitude_wrt_home ( float * alt )

private

Definition at line 252 of file AP_Soaring.cpp.

Referenced by suppress_throttle().

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◆ get_target()

void SoaringController::get_target ( Location & wp )

Definition at line 141 of file AP_Soaring.cpp.

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◆ get_throttle_suppressed()

bool SoaringController::get_throttle_suppressed ( ) const

inline

Definition at line 85 of file AP_Soaring.h.

Referenced by AP_TECS::_detect_bad_descent().

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◆ get_vario_reading()

float SoaringController::get_vario_reading ( ) const

inline

Definition at line 93 of file AP_Soaring.h.

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◆ get_wind_corrected_drift()

void SoaringController::get_wind_corrected_drift	(	const Location *	current_loc,
		const Vector3f *	wind,
		float *	wind_drift_x,
		float *	wind_drift_y,
		float *	dx,
		float *	dy
	)

private

Definition at line 239 of file AP_Soaring.cpp.

Referenced by update_thermalling().

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◆ init_cruising()

void SoaringController::init_cruising ( )

Definition at line 230 of file AP_Soaring.cpp.

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◆ init_thermalling()

void SoaringController::init_thermalling ( )

Definition at line 204 of file AP_Soaring.cpp.

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◆ is_active()

bool SoaringController::is_active ( ) const

Definition at line 324 of file AP_Soaring.cpp.

Referenced by AP_TECS::_detect_bad_descent(), and init_cruising().

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◆ McCready()

float SoaringController::McCready ( float alt )

private

Definition at line 318 of file AP_Soaring.cpp.

Referenced by check_cruise_criteria().

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◆ set_throttle_suppressed()

void SoaringController::set_throttle_suppressed ( bool suppressed )

inline

Definition at line 89 of file AP_Soaring.h.

◆ suppress_throttle()

bool SoaringController::suppress_throttle ( )

Definition at line 147 of file AP_Soaring.cpp.

Referenced by init_cruising().

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◆ update_cruising()

void SoaringController::update_cruising ( )

Definition at line 306 of file AP_Soaring.cpp.

◆ update_thermalling()

void SoaringController::update_thermalling ( )

Definition at line 257 of file AP_Soaring.cpp.

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◆ update_vario()

void SoaringController::update_vario ( )

Definition at line 312 of file AP_Soaring.cpp.

Referenced by get_vario_reading().

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Member Data Documentation

◆ _ahrs

AP_AHRS& SoaringController::_ahrs

private

Definition at line 30 of file AP_Soaring.h.

Referenced by get_altitude_wrt_home(), init_thermalling(), and update_thermalling().

◆ _cruise_start_time_us

unsigned long SoaringController::_cruise_start_time_us

private

Definition at line 41 of file AP_Soaring.h.

Referenced by check_thermal_criteria(), init_cruising(), and suppress_throttle().

◆ _ekf

ExtendedKalmanFilter SoaringController::_ekf {}

private

Definition at line 29 of file AP_Soaring.h.

Referenced by check_cruise_criteria(), get_target(), init_thermalling(), and update_thermalling().

◆ _loiter_rad

float SoaringController::_loiter_rad

private

Definition at line 46 of file AP_Soaring.h.

Referenced by check_cruise_criteria().

◆ _prev_update_location

struct Location SoaringController::_prev_update_location

private

Definition at line 35 of file AP_Soaring.h.

Referenced by get_target(), get_wind_corrected_drift(), init_thermalling(), and update_thermalling().

◆ _prev_update_time

unsigned long SoaringController::_prev_update_time

private

Definition at line 44 of file AP_Soaring.h.

Referenced by get_wind_corrected_drift(), init_thermalling(), and update_thermalling().

◆ _spdHgt

AP_SpdHgtControl& SoaringController::_spdHgt

private

Definition at line 31 of file AP_Soaring.h.

Referenced by suppress_throttle().

◆ _thermal_start_time_us

unsigned long SoaringController::_thermal_start_time_us

private

Definition at line 38 of file AP_Soaring.h.

Referenced by check_cruise_criteria(), check_init_thermal_criteria(), and init_thermalling().

◆ _throttle_suppressed

bool SoaringController::_throttle_suppressed

private

Definition at line 47 of file AP_Soaring.h.

Referenced by get_throttle_suppressed(), init_cruising(), and suppress_throttle().

◆ _vario

Variometer SoaringController::_vario

private

Definition at line 32 of file AP_Soaring.h.

Referenced by check_cruise_criteria(), check_thermal_criteria(), suppress_throttle(), update_thermalling(), and update_vario().

◆ alt_cutoff

AP_Float SoaringController::alt_cutoff

protected

Definition at line 68 of file AP_Soaring.h.

Referenced by suppress_throttle().

◆ alt_max

AP_Float SoaringController::alt_max

protected

Definition at line 66 of file AP_Soaring.h.

Referenced by check_cruise_criteria(), and check_thermal_criteria().

◆ alt_min

AP_Float SoaringController::alt_min

protected

Definition at line 67 of file AP_Soaring.h.

Referenced by check_cruise_criteria(), check_thermal_criteria(), and suppress_throttle().

◆ min_cruise_s

AP_Int16 SoaringController::min_cruise_s

protected

Definition at line 62 of file AP_Soaring.h.

Referenced by check_thermal_criteria().

◆ min_thermal_s

AP_Int16 SoaringController::min_thermal_s

protected

Definition at line 61 of file AP_Soaring.h.

Referenced by check_cruise_criteria(), and check_init_thermal_criteria().

◆ polar_B

AP_Float SoaringController::polar_B

protected

Definition at line 64 of file AP_Soaring.h.

Referenced by update_vario().

◆ polar_CD0

AP_Float SoaringController::polar_CD0

protected

Definition at line 63 of file AP_Soaring.h.

Referenced by update_vario().

◆ polar_K

AP_Float SoaringController::polar_K

protected

Definition at line 65 of file AP_Soaring.h.

Referenced by update_vario().

◆ soar_active

AP_Int8 SoaringController::soar_active

protected

Definition at line 54 of file AP_Soaring.h.

Referenced by check_cruise_criteria(), check_init_thermal_criteria(), check_thermal_criteria(), and is_active().

◆ soar_active_ch

AP_Int8 SoaringController::soar_active_ch

protected

Definition at line 55 of file AP_Soaring.h.

Referenced by is_active().

◆ thermal_distance_ahead

AP_Float SoaringController::thermal_distance_ahead

protected

Definition at line 60 of file AP_Soaring.h.

Referenced by init_thermalling().

◆ thermal_q1

AP_Float SoaringController::thermal_q1

protected

Definition at line 57 of file AP_Soaring.h.

Referenced by init_thermalling().

◆ thermal_q2

AP_Float SoaringController::thermal_q2

protected

Definition at line 58 of file AP_Soaring.h.

Referenced by init_thermalling().

◆ thermal_r

AP_Float SoaringController::thermal_r

protected

Definition at line 59 of file AP_Soaring.h.

Referenced by init_thermalling().

◆ thermal_vspeed

AP_Float SoaringController::thermal_vspeed

protected

Definition at line 56 of file AP_Soaring.h.

Referenced by check_thermal_criteria(), and McCready().

◆ var_info

const AP_Param::GroupInfo SoaringController::var_info

static

Definition at line 74 of file AP_Soaring.h.

Referenced by SoaringController().

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

libraries/AP_Soaring/AP_Soaring.h
libraries/AP_Soaring/AP_Soaring.cpp

Public Member Functions

Static Public Attributes

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SoaringController()

Member Function Documentation

◆ check_cruise_criteria()

◆ check_init_thermal_criteria()

◆ check_thermal_criteria()

◆ get_altitude_wrt_home()

◆ get_target()

◆ get_throttle_suppressed()

◆ get_vario_reading()

◆ get_wind_corrected_drift()

◆ init_cruising()

◆ init_thermalling()

◆ is_active()

◆ McCready()

◆ set_throttle_suppressed()

◆ suppress_throttle()

◆ update_cruising()

◆ update_thermalling()

◆ update_vario()

Member Data Documentation

◆ _ahrs

◆ _cruise_start_time_us

◆ _ekf

◆ _loiter_rad

◆ _prev_update_location

◆ _prev_update_time

◆ _spdHgt

◆ _thermal_start_time_us

◆ _throttle_suppressed

◆ _vario

◆ alt_cutoff

◆ alt_max

◆ alt_min

◆ min_cruise_s

◆ min_thermal_s

◆ polar_B

◆ polar_CD0

◆ polar_K

◆ soar_active

◆ soar_active_ch

◆ thermal_distance_ahead

◆ thermal_q1

◆ thermal_q2

◆ thermal_r

◆ thermal_vspeed

◆ var_info