gvf_module
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. For more details we refer to https://wiki.paparazziuav.org/wiki/Module/guidance_vector_field .
GVF_ELLIPSE_ |
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|---|---|---|
Name |
Value |
Description |
KE |
1 |
Gain for the aggresivity of the gvf |
KN |
1 |
Gain for the alignment of the vehicle with the gvf |
A |
80 |
Horizontal axis length of the ellipse |
B |
80 |
Vertical axis length of the ellipse |
ALPHA |
0 |
Rotation of the horizontal axis |
GVF_LINE_ |
||
|---|---|---|
Name |
Value |
Description |
KE |
1 |
Gain for the aggresivity of the gvf |
KN |
1 |
Gain for the alignment of the vehicle with the gvf |
HEADING |
0 |
Desired heading for the line (0 is North, 90 is East) |
D1 |
0 |
Extra distance (w.r.t. the 1st point) to be travelled before turning around for the segment_loop |
D2 |
0 |
Extra distance (w.r.t. the 2nd point) to be travelled before turning around for the segment_loop |
GVF_SIN_ |
||
|---|---|---|
Name |
Value |
Description |
KE |
1 |
Gain for the aggresivity of the gvf |
KN |
1 |
Gain for the alignment of the vehicle with the gvf |
ALPHA |
0 |
Desired heading for the line (0 is East, 90 is North) |
W |
0 |
Frequency for the sinusoidal y=Asin(Wx + OFF) |
OFF |
0 |
Offset for the sinusoidal y=Asin(Wx + OFF) |
A |
0 |
Amplitude for the sinusoidal y=Asin(Wx + OFF) |