APM:Libraries
Functions | Variables
polygon.cpp File Reference
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
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Functions

void setup ()
 
void loop ()
 
 AP_HAL_MAIN ()
 

Variables

const AP_HAL::HALhal = AP_HAL::get_HAL()
 -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...
 
static const Vector2l OBC_boundary []
 
struct {
   Vector2l   point
 
   bool   outside
 
test_points []
 

Function Documentation

◆ AP_HAL_MAIN()

AP_HAL_MAIN ( )

Referenced by loop().

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◆ loop()

void loop ( void  )

Definition at line 111 of file polygon.cpp.

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◆ setup()

void setup ( void  )

Definition at line 63 of file polygon.cpp.

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Variable Documentation

◆ hal

const AP_HAL::HAL& hal = AP_HAL::get_HAL()

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

The strategy for roll/pitch autotune is to give the user a AUTOTUNE flight mode which behaves just like FBWA, but does automatic tuning.

While the user is flying in AUTOTUNE the gains are saved every 10 seconds, but the saved gains are not the current gains, instead it saves the gains from 10s ago. When the user exits AUTOTUNE the gains are restored from 10s ago.

This allows the user to fly as much as they want in AUTOTUNE mode, and if they are ever unhappy they just exit the mode. If they stay in AUTOTUNE for more than 10s then their gains will have changed.

Using this approach users don't need any special switches, they just need to be able to enter and exit AUTOTUNE mode

Definition at line 11 of file polygon.cpp.

◆ OBC_boundary

const Vector2l OBC_boundary[]
static
Initial value:
= {
Vector2l(-265695640, 1518373730),
Vector2l(-265699560, 1518394050),
Vector2l(-265768230, 1518411420),
Vector2l(-265773080, 1518403440),
Vector2l(-265815110, 1518419500),
Vector2l(-265784860, 1518474690),
Vector2l(-265994890, 1518528860),
Vector2l(-266092110, 1518747420),
Vector2l(-266454780, 1518820530),
Vector2l(-266435720, 1518303500),
Vector2l(-265875990, 1518344050),
Vector2l(-265695640, 1518373730)
}
Vector2< int32_t > Vector2l
Definition: vector2.h:237

Definition at line 18 of file polygon.cpp.

◆ outside

bool outside

Definition at line 35 of file polygon.cpp.

Referenced by Polygon_outside(), and setup().

◆ point

Vector2l point

◆ test_points

const { ... } test_points[]
Initial value:
= {
{ Vector2l(-266398870, 1518220000), true },
{ Vector2l(-266418700, 1518709260), false },
{ Vector2l(-350000000, 1490000000), true },
{ Vector2l(0, 0), true },
{ Vector2l(-265768150, 1518408250), false },
{ Vector2l(-265774060, 1518405860), true },
{ Vector2l(-266435630, 1518303440), true },
{ Vector2l(-266435650, 1518313540), false },
{ Vector2l(-266435690, 1518303530), false },
{ Vector2l(-266435690, 1518303490), true },
{ Vector2l(-265875990, 1518344049), true },
{ Vector2l(-265875990, 1518344051), false },
{ Vector2l(-266454781, 1518820530), true },
{ Vector2l(-266454779, 1518820530), true },
{ Vector2l(-266092109, 1518747420), true },
{ Vector2l(-266092111, 1518747420), false },
{ Vector2l(-266092110, 1518747421), true },
{ Vector2l(-266092110, 1518747419), false },
{ Vector2l(-266092111, 1518747421), true },
{ Vector2l(-266092109, 1518747421), true },
{ Vector2l(-266092111, 1518747419), false },
}
Vector2< int32_t > Vector2l
Definition: vector2.h:237

Referenced by setup().