Paparazzi UAS v7.0_unstable
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Macros | Functions | Variables
control_mixing_heewing.c File Reference
#include "modules/ctrl/control_mixing_heewing.h"
#include "modules/radio_control/radio_control.h"
#include "generated/modules.h"
#include "modules/core/commands.h"
#include "modules/actuators/actuators.h"
#include "autopilot.h"
#include "state.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/guidance.h"
#include "firmwares/rotorcraft/navigation.h"
#include "firmwares/rotorcraft/guidance/guidance_plane.h"
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_plane_pid.h"
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Go to the source code of this file.

Macros

#define CMH_TILT_FORWARD   0
 
#define CMH_TILT_VERTICAL   8700
 
#define CMH_TILT_DIFF_MAX   (MAX_PPRZ-CMH_TILT_VERTICAL)
 
#define CMH_MOTOR_IDLE   800
 
#define CMH_TRANSITION_TIME   4.f
 
#define CMH_TRANSITION_AIRSPEED   10.f
 
#define TRANSITION_TO_HOVER   false
 
#define TRANSITION_TO_FORWARD   true
 

Functions

static void transition_run (bool to_forward)
 
static int32_t command_from_transition (int32_t hover_cmd, int32_t forward_cmd)
 
void control_mixing_heewing_init (void)
 
void control_mixing_heewing_manual (void)
 Direct manual control in plane style flight.
 
void control_mixing_heewing_attitude_direct (void)
 Stabilization in attitude direct mode.
 
void control_mixing_heewing_attitude_direct_enter (void)
 
void stabilization_indi_set_wls_settings (void)
 Function that sets the u_min, u_max and u_pref if function not elsewhere defined.
 
void control_mixing_heewing_attitude_plane_enter (void)
 
void control_mixing_heewing_attitude_plane (void)
 
void control_mixing_heewing_nav_enter (void)
 
void control_mixing_heewing_nav_run (void)
 

Variables

static float transition_ratio
 
static const float transition_increment = 1.f / (CMH_TRANSITION_TIME * PERIODIC_FREQUENCY)
 

Detailed Description

Author
Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r Control mixing specific to the Heewing T1 Ranger

Definition in file control_mixing_heewing.c.

Macro Definition Documentation

◆ CMH_MOTOR_IDLE

#define CMH_MOTOR_IDLE   800

Definition at line 57 of file control_mixing_heewing.c.

◆ CMH_TILT_DIFF_MAX

#define CMH_TILT_DIFF_MAX   (MAX_PPRZ-CMH_TILT_VERTICAL)

Definition at line 52 of file control_mixing_heewing.c.

◆ CMH_TILT_FORWARD

#define CMH_TILT_FORWARD   0

Definition at line 42 of file control_mixing_heewing.c.

◆ CMH_TILT_VERTICAL

#define CMH_TILT_VERTICAL   8700

Definition at line 47 of file control_mixing_heewing.c.

◆ CMH_TRANSITION_AIRSPEED

#define CMH_TRANSITION_AIRSPEED   10.f

Definition at line 67 of file control_mixing_heewing.c.

◆ CMH_TRANSITION_TIME

#define CMH_TRANSITION_TIME   4.f

Definition at line 62 of file control_mixing_heewing.c.

◆ TRANSITION_TO_FORWARD

#define TRANSITION_TO_FORWARD   true

Definition at line 71 of file control_mixing_heewing.c.

◆ TRANSITION_TO_HOVER

#define TRANSITION_TO_HOVER   false

Definition at line 70 of file control_mixing_heewing.c.

Function Documentation

◆ command_from_transition()

static int32_t command_from_transition ( int32_t  hover_cmd,
int32_t  forward_cmd 
)
static

Definition at line 93 of file control_mixing_heewing.c.

References foo, and transition_ratio.

Referenced by control_mixing_heewing_attitude_plane(), and control_mixing_heewing_nav_run().

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◆ control_mixing_heewing_attitude_direct()

void control_mixing_heewing_attitude_direct ( void  )

Stabilization in attitude direct mode.

Definition at line 117 of file control_mixing_heewing.c.

References autopilot, autopilot_get_motors_on(), autopilot_in_flight(), Stabilization::cmd, CMH_ACT_MOTOR_LEFT, CMH_ACT_MOTOR_RIGHT, CMH_ACT_MOTOR_TAIL, CMH_ACT_YAW, CMH_TILT_VERTICAL, commands, foo, guidance_v_run(), MAX_PPRZ, Stabilization::rc_sp, stabilization, stabilization_run(), pprz_autopilot::throttle, transition_run(), and TRANSITION_TO_HOVER.

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◆ control_mixing_heewing_attitude_direct_enter()

void control_mixing_heewing_attitude_direct_enter ( void  )

Definition at line 145 of file control_mixing_heewing.c.

References guidance_h_mode_changed(), GUIDANCE_H_MODE_NONE, guidance_v_mode_changed(), GUIDANCE_V_MODE_RC_DIRECT, STABILIZATION_ATT_SUBMODE_HEADING, STABILIZATION_MODE_ATTITUDE, stabilization_mode_changed(), and STABILIZATION_MODE_NONE.

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◆ control_mixing_heewing_attitude_plane()

void control_mixing_heewing_attitude_plane ( void  )

Definition at line 182 of file control_mixing_heewing.c.

References autopilot, autopilot_in_flight(), Stabilization::cmd, CMH_ACT_MOTOR_LEFT, CMH_ACT_MOTOR_RIGHT, CMH_ACT_MOTOR_TAIL, CMH_TILT_FORWARD, CMH_TILT_VERTICAL, command_from_transition(), commands, foo, guidance_v_run(), MAX_PPRZ, FloatEulers::phi, radio_control_get(), RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, Stabilization::rc_sp, stab_sp_from_eulers_f(), stabilization, stabilization_attitude_plane_pid_run(), stabilization_run(), th_sp_from_thrust_i(), pprz_autopilot::throttle, THRUST_AXIS_X, transition_ratio, transition_run(), and TRANSITION_TO_FORWARD.

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◆ control_mixing_heewing_attitude_plane_enter()

void control_mixing_heewing_attitude_plane_enter ( void  )

Definition at line 173 of file control_mixing_heewing.c.

References guidance_h_mode_changed(), GUIDANCE_H_MODE_NONE, guidance_v_mode_changed(), GUIDANCE_V_MODE_RC_DIRECT, STABILIZATION_ATT_SUBMODE_HEADING, stabilization_attitude_plane_pid_enter(), STABILIZATION_MODE_ATTITUDE, and stabilization_mode_changed().

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◆ control_mixing_heewing_init()

void control_mixing_heewing_init ( void  )

Definition at line 98 of file control_mixing_heewing.c.

References transition_ratio.

◆ control_mixing_heewing_manual()

void control_mixing_heewing_manual ( void  )

Direct manual control in plane style flight.

Definition at line 103 of file control_mixing_heewing.c.

References autopilot, CMH_TILT_FORWARD, commands, foo, MIN_PPRZ, radio_control_get(), RADIO_PITCH, RADIO_ROLL, RADIO_THROTTLE, pprz_autopilot::throttle, transition_run(), and TRANSITION_TO_FORWARD.

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◆ control_mixing_heewing_nav_enter()

void control_mixing_heewing_nav_enter ( void  )

Definition at line 225 of file control_mixing_heewing.c.

References guidance_h_mode_changed(), GUIDANCE_H_MODE_NAV, guidance_v_mode_changed(), GUIDANCE_V_MODE_NAV, STABILIZATION_ATT_SUBMODE_HEADING, STABILIZATION_MODE_ATTITUDE, and stabilization_mode_changed().

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◆ control_mixing_heewing_nav_run()

void control_mixing_heewing_nav_run ( void  )

Definition at line 232 of file control_mixing_heewing.c.

References autopilot, autopilot_get_motors_on(), autopilot_in_flight(), Stabilization::cmd, CMH_ACT_MOTOR_LEFT, CMH_ACT_MOTOR_RIGHT, CMH_ACT_MOTOR_TAIL, CMH_ACT_YAW, CMH_TILT_FORWARD, CMH_TILT_VERTICAL, command_from_transition(), commands, foo, guidance_h_run(), guidance_plane, guidance_plane_attitude_from_nav(), guidance_plane_thrust_from_nav(), guidance_v_run(), RotorcraftNavigation::heading, RotorcraftNavigation::horizontal_mode, MAX_PPRZ, MIN_PPRZ, nav, NAV_HORIZONTAL_MODE_CIRCLE, NAV_HORIZONTAL_MODE_ROUTE, FloatEulers::phi, GuidancePlane::pitch_cmd, FloatEulers::psi, stab_sp_from_eulers_f(), stabilization, stabilization_attitude_plane_pid_run(), stabilization_run(), stateGetNedToBodyEulers_f(), pprz_autopilot::throttle, transition_ratio, transition_run(), TRANSITION_TO_FORWARD, and TRANSITION_TO_HOVER.

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◆ stabilization_indi_set_wls_settings()

void stabilization_indi_set_wls_settings ( void  )

Function that sets the u_min, u_max and u_pref if function not elsewhere defined.

Definition at line 153 of file control_mixing_heewing.c.

References act_pref, CMH_ACT_MOTOR_LEFT, CMH_ACT_MOTOR_RIGHT, CMH_ACT_MOTOR_TAIL, CMH_ACT_YAW, CMH_MOTOR_IDLE, CMH_TILT_DIFF_MAX, MAX_PPRZ, WLS_t::u_max, WLS_t::u_min, WLS_t::u_pref, and wls_stab_p.

◆ transition_run()

static void transition_run ( bool  to_forward)
static

Definition at line 76 of file control_mixing_heewing.c.

References CMH_TRANSITION_AIRSPEED, foo, stateGetAirspeed_f(), stateIsAirspeedValid(), transition_increment, and transition_ratio.

Referenced by control_mixing_heewing_attitude_direct(), control_mixing_heewing_attitude_plane(), control_mixing_heewing_manual(), and control_mixing_heewing_nav_run().

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Variable Documentation

◆ transition_increment

const float transition_increment = 1.f / (CMH_TRANSITION_TIME * PERIODIC_FREQUENCY)
static

Definition at line 74 of file control_mixing_heewing.c.

Referenced by transition_run().

◆ transition_ratio

float transition_ratio
static

Definition at line 73 of file control_mixing_heewing.c.

Referenced by command_from_transition(), control_mixing_heewing_attitude_plane(), control_mixing_heewing_init(), control_mixing_heewing_nav_run(), and transition_run().