Guidance Vector Field #1919
Guidance Vector Field #1919
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| #include "std.h" | ||
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| // Control | ||
| extern float gvf_error; |
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This variables could be in a gvf structure
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| #ifndef GVF_ELLIPSE_H | ||
| #define GVF_ELLIPSE |
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it should be GVF_ELLIPSE_H
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| #include "../gvf.h" | ||
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| extern float gvf_ellipse_a; |
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maybe make a gvf_ellipse structure
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| #ifndef GVF_LINE_H | ||
| #define GVF_LINE |
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it should be GVF_LINE_H
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| #ifndef GVF_SIN_H | ||
| #define GVF_SIN |
| // 1 - Ellipse | ||
| // 2 - Sin | ||
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| extern uint8_t gvf_traj_type; |
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I suggest to make an enum for the list of possible types
| #include <math.h> | ||
| #include "std.h" | ||
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| #include "gvf.h" |
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usually, we have "global" path (from airborne code folder), so would be modules/guidance/gvf/gvf.h, and the others accordingly.
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| <header> | ||
| <file name="gvf.h"/> | ||
| <file name="trajectories/gvf_line.h"/> |
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fix indent (no tabs)
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| <!DOCTYPE settings SYSTEM "../settings.dtd"> | |||
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| <settings> | |||
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settings should be included in the module
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yep, I will apply these changes. The structs that you suggest make sense. I will also split the settings. The essential ones in the module (the gains and direction) and optional ones (parameters of the trajectories) in the current file at /conf/settings |
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Actually, you can have several |
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btw shall I add a gvf_demo.xml flight plan? so people can play with the settings from the GCS, etc. |
| < !DOCTYPE module SYSTEM "module.dtd" > | ||
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| <module name = "gvf" dir = "guidance/gvf"> | ||
| <doc> |
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something went wrong with formatting here...
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haha, I see that the script for fixing the style messed the .xml up :P .
| float alpha = gvf_trajectory.p[4]; | ||
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| // Phi(x,y) | ||
| float xel = (px - wx) * cosf(alpha) - (py - wy) * sinf(alpha); |
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I suggest to make two local variables so that cos(alpha) and sin(alpha) are computed only once. Same for the sin guidance function.
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sure, I can do it.
However (not 100% sure about it) I would say that the compiler takes care of such optimizations with the flag -O2 right? It checks how many times the same operation is done in the same scope and then make the corresponding optimization.
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Yeah, maybe we discussed that already. It still hurts a bit to see so many trig functions ;)
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haha yep. No worries, it does not take any effort to make this change. I will do it within tomorrow :P.
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Shouldn't we prefix the module name and the "nav" functions that are supposed to be called from the flightplan with |
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The defines that the user is supposed to (optionally) add to the airframe file should be documented in the module xml file. A bit more detailed description in the module xml (maybe with link to the the wiki page) would also be nice. |
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True, I have forgotten to add the #defines in the .xml. I will add also an extra description there tomorrow. I also have to add the condition/check 'only for fixedwing' (for the moment). I am not sure about the prefix nav_ . Maybe this is another discussion and for sure you know better than me how to proceed. Instead of having nav_circle, nav_gvf_ellipse, nav_foo_circle.... is there any plan for how to organize/call different algorithms for the same purpose? e.g. to follow a circle? what do you think? |
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Regarding the |
A guidance module based on vector fields: https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field (wiki entry still to be improved)
After polishing (and hopefully merging) this commit I will work on the integration of the module in the GCS , right now it can only draw circles using the CIRCLE msg.
So far it only works with fixedwings. The extension to rotorcrafts should be easy to implement, but I have not looked at pprz's rotorcrafts code yet...