mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Hector Garcia de Marina
2257a889da
* pprzlink updated to master * guidance vector field module * sin trajectory, forgot a minus sign... * xml files for GVF * control/gvf.xml not needed anymore * added some structs for settings and placing gvf_variables into structs * demo flight plan for testing the settings of the GVF * style fixed * trigonometry calculations made only once * syntax fixed * pprzlink updated * added defines and improved description in the module .xml * module only works for fixedwing (so far)
73 lines
3.2 KiB
XML
73 lines
3.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="gvf" dir="guidance/gvf">
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<doc>
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<description>Guidance algorithm for tracking smooth trajectories. The algorithm is based on the idea of stearing the vehicle to a vector field that smoothly converges to the desired trajectory.
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For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field .
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</description>
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</doc>
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<settings name="complete">
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<dl_settings>
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<dl_settings NAME="GVF">
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<dl_settings NAME="Control">
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<dl_setting MAX="5" MIN="0.0" STEP="0.01" VAR="gvf_control.ke" shortname="gvf_ke" param="GVF_KE"/>
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<dl_setting MAX="5" MIN="0.0" STEP="0.01" VAR="gvf_control.kn" shortname="gvf_kn" param="GVF_KN"/>
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<dl_setting MAX="1" MIN="-1" STEP="2" VAR="gvf_control.s" shortname = "direction"/>
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</dl_settings>
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<dl_settings NAME="Ellipse">
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<dl_setting MAX="150" MIN="0.0" STEP="10" VAR="gvf_ellipse_par.a" shortname="a" param="GVF_ELLIPSE_A"/>
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<dl_setting MAX="150" MIN="0.0" STEP="10" VAR="gvf_ellipse_par.b" shortname="b" param="GVF_ELLIPSE_B"/>
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<dl_setting MAX="90" MIN="-90" STEP="1" VAR="gvf_ellipse_par.alpha" shortname="alpha" param="GVF_ELLIPSE_ALPHA"/>
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</dl_settings>
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<dl_settings NAME="Line">
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<dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_line_par.alpha" shortname="alpha" param="GVF_LINE_ALPHA"/>
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</dl_settings>
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<dl_settings NAME="Sine">
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<dl_setting MAX="180" MIN="-180" STEP="1" VAR="gvf_sin_par.alpha" shortname="alpha" param="GVF_SIN_ALPHA"/>
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<dl_setting MAX="0.01" MIN="0" STEP="0.0001" VAR="gvf_sin_par.w" shortname="w" param="GVF_SIN_W"/>
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<dl_setting MAX="6.2" MIN="0" STEP="0.002" VAR="gvf_sin_par.off" shortname="off" param="GVF_SIN_OFF"/>
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<dl_setting MAX="100" MIN="0" STEP="1" VAR="gvf_sin_par.A" shortname="amplitude" param="GVF_SIN_A"/>
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</dl_settings>
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</dl_settings>
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</dl_settings>
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</settings>
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<settings name="control">
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<dl_settings>
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<dl_settings NAME="GVF">
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<dl_settings NAME="Control">
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<dl_setting MAX="5" MIN="0.0" STEP="0.01" VAR="gvf_control.ke" shortname="gvf_ke" param="GVF_KE"/>
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<dl_setting MAX="5" MIN="0.0" STEP="0.01" VAR="gvf_control.kn" shortname="gvf_kn" param="GVF_KN"/>
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<dl_setting MAX="1" MIN="-1" STEP="2" VAR="gvf_control.s" shortname="direction"/>
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</dl_settings>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="gvf.h"/>
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<file name="trajectories/gvf_line.h"/>
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<file name="trajectories/gvf_sin.h"/>
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<file name="trajectories/gvf_ellipse.h"/>
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</header>
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<init fun = "gvf_init()"/>
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<makefile firmware="fixedwing">
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<define name="GVF_ELLIPSE_A" value="80"/>
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<define name="GVF_ELLIPSE_B" value="80"/>
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<define name="GVF_ELLIPSE_ALPHA" value="0"/>
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<define name="GVF_SIN_ALPHA" value="0"/>
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<define name="GVF_SIN_W" value="0"/>
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<define name="GVF_SIN_OFF" value="0"/>
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<define name="GVF_SIN_A" value="0"/>
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<define name="GVF_LINE_ALPHA" value="0"/>
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<file name="gvf.c"/>
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<file name="trajectories/gvf_line.c"/>
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<file name="trajectories/gvf_sin.c"/>
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<file name="trajectories/gvf_ellipse.c"/>
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</makefile>
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</module>
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