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Support for rovers and third order Bézier splines in GVF parametric (#3145)

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This commit is contained in:
Alfredo González Calvin
2023-11-03 21:30:53 +01:00
committed by GitHub
parent adc25c4db6
commit 26d7c9055e
18 changed files with 435 additions and 19 deletions
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conf/modules/gvf_common.xml
+24
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@@ -0,0 +1,24 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="gvf_common" dir="guidance/">
<doc>
<description>
Common file to allow both gvf to work together.
Still requires at least one module providing the actual gvf implementation
</description>
</doc>
<header>
<file name="gvf_common.h"/>
</header>
<makefile firmware="fixedwing">
<file name="gvf_common.c"/>
</makefile>
<makefile firmware="rover">
<file name="gvf_common.c"/>
</makefile>
</module>
conf/modules/gvf_module.xml
+5 -1
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@@ -59,7 +59,11 @@ For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>gvf_common</depends>
</dep>
<header>
<file name="gvf.h"/>
<file name="gvf_low_level_control.h"/>
conf/modules/gvf_parametric.xml
+31 -1
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@@ -29,6 +29,10 @@
<dl_setting MAX="200" MIN="10" STEP="5" VAR="gvf_parametric_2d_trefoil_par.r" shortname="2d_tre_r" param="GVF_PARAMETRIC_2D_TREFOIL_R"/>
<dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_parametric_2d_trefoil_par.alpha" shortname="2d_tre_alpha" param="GVF_PARAMETRIC_2D_TREFOIL_ALPHA"/>
</dl_settings>
<dl_settings NAME="2D_bezier">
<dl_setting MAX="9.750" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_2d_bezier_par.kx" shortname="2d_bezier_kx" param="GVF_PARAMETRIC_2D_BEZIER_KX"/>
<dl_setting MAX="9.750" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_2d_bezier_par.ky" shortname="2d_bezier_ky" param="GVF_PARAMETRIC_2D_BEZIER_KY"/>
</dl_settings>
<dl_settings NAME="3D_ellipse">
<dl_setting MAX="0.01" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_3d_ellipse_par.kx" shortname="3d_ell_kx" param="GVF_PARAMETRIC_3D_ELLIPSE_KX"/>
<dl_setting MAX="0.01" MIN="0.0" STEP="0.0005" VAR="gvf_parametric_3d_ellipse_par.ky" shortname="3d_ell_ky" param="GVF_PARAMETRIC_3D_ELLIPSE_KY"/>
@@ -53,16 +57,22 @@
<dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_parametric_3d_lissajous_par.dz" shortname="3d_lis_dz" param="GVF_PARAMETRIC_3D_LISSAJOUS_DZ"/>
<dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_parametric_3d_lissajous_par.alpha" shortname="3d_lis_alpha" param="GVF_PARAMETRIC_3D_LISSAJOUS_ALPHA"/>
</dl_settings>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>gvf_common</depends>
</dep>
<header>
<file name="gvf_parametric.h"/>
<file name="gvf_parametric_low_level_control.h"/>
<file name="trajectories/gvf_parametric_3d_ellipse.h"/>
<file name="trajectories/gvf_parametric_3d_lissajous.h"/>
<file name="trajectories/gvf_parametric_2d_trefoil.h"/>
<file name="trajectories/gvf_parametric_2d_bezier_splines.h"/>
</header>
<init fun = "gvf_parametric_init()"/>
@@ -78,10 +88,30 @@
<file name="trajectories/gvf_parametric_3d_ellipse.c"/>
<file name="trajectories/gvf_parametric_3d_lissajous.c"/>
<file name="trajectories/gvf_parametric_2d_trefoil.c"/>
<file name="trajectories/gvf_parametric_2d_bezier_splines.c"/>
<flag name="LDFLAGS" value="lstdc++" />
</makefile>
<makefile target="ap|nps" firmware="rover">
<configure name="CXXSTANDARD" value="-std=c++14"/>
<flag name="CXXFLAGS" value="Wno-int-in-bool-context -Wno-deprecated-copy"/>
<include name="$(PAPARAZZI_SRC)/sw/ext/eigen"/>
<define name="EIGEN_NO_MALLOC"/>
<define name="EIGEN_NO_AUTOMATIC_RESIZING"/>
<file name="gvf_parametric.cpp"/>
<file name="gvf_parametric_low_level_control.c"/>
<file name="trajectories/gvf_parametric_3d_ellipse.c"/>
<file name="trajectories/gvf_parametric_3d_lissajous.c"/>
<file name="trajectories/gvf_parametric_2d_trefoil.c"/>
<file name="trajectories/gvf_parametric_2d_bezier_splines.c"/>
<flag name="LDFLAGS" value="lstdc++" />
</makefile>
<makefile target="ap" firmware="fixedwing">
<define name="EIGEN_NO_DEBUG"/>
</makefile>
<makefile target="ap" firmware="rover">
<define name="EIGEN_NO_DEBUG"/>
</makefile>
</module>